It's a problem with the design of the overall system.
The arms can freeze in ice and still break gears and the like.
Make sure everything is clean before you use them.
Down under the trim can also get frozen and make everything bins up.
The wiper motor dosn't know this and still tries to move the whole assembly.
Same with power windows. Don't try to move them until the cab is fully warmed if they are frozen fast at the window wipes.