2005 c230 suspension

[markmam]

hi i was driving this morning when i hit a block ice going 35 miles per hour the rear end lost it and i dont know how come the esp didnt kick in. i lost the rear end and it went to the right i tried counter steer to catch it and i caught it but it went on the other side and i caught it again but it finly hit the curb the car is not damaged all the problem is the rear right tire is facing to the right about 2 to 3 inches i checked but the things i see i unkown means i dont know the name but i need i

now my question is can you guys help me out on instruction on how to changed it and what are the names of the arms and the mounts that the arm connects to from the body. thank you