Short answer: changes in custody require either an agreement between the parents or a court order. The relevant rules are explained here:
http://willicklawgroup.com/child-custody-and-visitation/
First step would be have you mom simply ask your dad; if that does not work, the only way to effect a change of custody is to file a motion asking for that result. You could seek legal emancipation, but that is a pretty tough standard (you have to show how you could be self-supporting). Otherwise, it is a matter of waiting to age 18.
Answered on Aug 25th, 2014 at 7:09 PM