This is how I define things.
The goal; should be described as an activity ("escape the kidnappers" as opposed to "be free"). The goal must be very specific. You should be able to envision the character acting as if on a stage or movie screen. It must describe an action that shows how, in detail, the character needs to act in order to achieve the character's ambition (sorry for introducing another term).
The goal may even have more than one step.
The ambition; is the overall goal/ambition that can be a bit more lofty than the goal. For instance, to be free.
The motivation; explains the goal and ambition and could be based on the character's past, emotional wounds, values, etc.
The motivation can be a rather long piece. After all, we usually don't act from a single source of motivation alone. In order for there to be a drop that can make the cup run over, the cup must already be full...
In your case, I'd say the goal is to escape with the children from the husband.
The ambition is to teach the children to be strong. Although, I sense between the lines that there might be an urge for general freedom here, from judgment as well as domination. Or for that matter, freedom to act without judgment.
The motivation is the emotional wound of being told by her parents that she is weak and easily controlled, but I also sense it's based on her starting to defy that past and starting to heal from that wound. Or at least a sense that if she continues letting the wound fester she will die. Though likely only psychologically.
The wound's part in landing her with a domineering husband is probably also part of the motivation.
Goals, ambitions, and motivations do not have to be applied so strictly though. They are there to let you figure out what your characters do and why, and also to introduce conflict, for instance when two goals are mutually exclusive.
They can also be used to show theme/message when two ambitions result in different goals. e.g. ambition: "get rich", character 1's goal: "work hard", character 2's goal: "rob the bank"... theme/message determines who is successful and who isn't...
For instance, what is the husband's ambition, and motivation? How do they relate to the main character's ambition and motivation? And how can they be used to show theme and/or message?
You can also use the motivation in the same way. Perhaps your main character's mother has the same emotional wound and is in the same situation with a domineering husband, but she chose to tough it out, and your main character's childhood is the result. How does this motivate your main character?
For instance, this, or at least part of it, could be a great revelation for the midpoint that could be used to propel your character into action, now knowing what will happen to her children if she stays.