Your opening line sounds good. Practice in your mind or even on paper what you plan to say. Either tell your parents that you need to talk to them or look for opportunities to catch one or the other or both and have the conversation. It might go better then you think. Your mom dropped the ball when you wrote that essay and she didn't question you. As for crying, we have tear ducts for a reason. If you cry that is ok. It's part of the human experience.

Btw, those are good and caring friends you have.

Good luck with your parents and best wishes.