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When you say "find out for free" do you mean get the forms and how to go about getting PoA? Try contacting your local area's Council on Aging as they have many resources.
You could probably download some very basic forms online for free but they may not be written for your state's laws and rules. For a minimum cost you can go to Legalzoom.com or Rocketlawyer.com and get the forms specific for your state and also some basic guidance and info. That's what I did. Good luck!
Be aware that you can't get POA if Mom is incompetent to assign you. I would not download forms. Have a lawyer or Paralegal help you.