Maybe. There's a plastic cap on the end of the shaft that you can remove. Underneath that is a nut. You can remove the nut and pull off the wiper assembly. The motor shaft has splines (ridges). Make sure they're clean of dirt and not stripped. Likewise with the slots in the wiper arm.
As long as the splines aren't damaged you should be able to re-position the assembly as appropriate, and push down/wiggle until it re-engages the splines, then tighten the nut again and replace the end cap.