Instructions should be provided with the mod. Generally, mods are placed in your Sims 4 mods folder, which can be found in your Sims 4 documents folder under "Electronic Arts > Sims 4 > Mods".
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Once you've installed the mod, you can use it in your gameplay: Instructions should be provided with the mod
Even if a modder wanted to (and no ethical modder does), the animations in The Sims 4 are rigged to specific skeleton models. The child Sim skeleton is proportionally different from adult skeletons. Creating functional WooHoo animations for children would require a total skeleton replacement, which would break every other outfit, interaction, and animation in the game. It is, for all practical purposes, a technical non-starter. When a keyword like "child woohoo mod sims