What are the "arms" that connect your axles to your steering wheel called?

[kayla_perkinson]

My jeep had a problem where the cushioning on these "arms" had worn off, and it made the axles really loose, so they'd drag & drift if i didn't keep a firm hold on the steering wheel, it made the tires drag and i had to put new tires on it twice in like two months, so i need to know what those arms are called and what the names of the different parts that might have been replaced with them are, i'm trying to explain in an add everything that was replaced but can't for the life of me remember the name of those "arms" thank youu