Hi. Well, I don't know. I'm really affectionate with my kids. As kids get older, they often dictate how affectionate a parent is. My older son would let me know, I'm sure, if he didn't like the hug or kiss on the head, etc. Do you let her know? Do you set a boundary? Most adults don't touch other people's breasts or butts. I guess I would give my sons a love swat on the rear end in jest. But not a squeeze and a rub. For your sake, set your own boundary. you can say "okay mom. Enough of the leg rubbing-- you already felt the pants" in a funny tone of voice so it gets the point across without being mean about it. She grabs your breast "mom, you gotta stop that. Your space, my space. No touching my breasts or private parts!" Just say it to her. Be firm without being mad about it.
I don't know if you can accuse your mom of molesting children. That's a pretty huge and serious allegation. You can talk to her in a different way though. You can say that you are concerned that she 'touches' too much and hope she doesn't do that at her job and see her reaction.
Have you been to a therapist to discuss possible sexual abuse? what does your sister say about things in the home?
I think in your shoes I would feel the same way. It seems like she has no boundaries. My mom was very affectionate, but she never stroked my leg or looked into my pants. I'm glad you have therapy! If your flashbacks of sexual abuse aren't false, you will need the help so you can bear up under the sadness. I'm sorry your mom is like this, is she like this with your sister also or only you? You're going to have to tell her the boundaries because she doesn't know them, and you're going to have to deal with her reaction (which will probably be a protesting one). Or you're going to have to not see her. I would certainly tell her that if she can't keep her hands to herself you won't come around.
I'm really sorry, it sounds like she is very unaware of what is appropriate between parent and child. Incest is out there, don't let her go that way. I'm sorry it has to be on you to stop her and not on her to act like a human being with the normal taboos between adult and child, mother and child.