How can a I get POA to represent my Mom without going to see a lawyer?

I would be very careful about any type of free form on-line. One misplaced word could create a landmine of problems later on.

Get the proper form for your state, check off only the boxes that you need, and have two INDEPENDENT witnesses also sign the form.

Call your local Area Agency on Aging - every area has AoA as it is within your Council of Governments which is a regional planning body which acts as a funnel for federal programs. Every state has COG's and therefore AoA's (a few smaller states are a single COG). They will either have forms that work for your state (state laws are critically important in just how POA's need to read) or can direct you to pro-bono (free "for the public good") law clinics usually with law schools to get these done.

Legalzoom offers forms for POA.