My Jeep Liberty started jerking and driving funny with lights on dashboard?

What is your question?

Hello I live in Wisconsin and it snowed a lot recently and has been in the single digits, anyway im not sure if this has any thing to do with the way my car has starting acting but I thought I'd mention that, long story short today it started jerking tremendously when I would go accelerate or go to break and its saying its still saying its on 4low even though I put it in 2WD, also its showing the traction control light is still on and also saying ESP off. Im not sure what any of this means but its really frustrating, I know im gonna have to take it into the shop but I was wondering if anyone else experienced anything like this with a Jeep or other car.

What makes this problem better or worse?

nothing so far

How long has your 2009 Jeep Liberty had this problem?

2 days