If I am the primary on a checking account that is shared by my mother can I take her money out of the account and keep it and not get in trouble(law

I think that you are telling me that you have what is called a "joint" checking account.  if that is the case, then either one of you may draw from the account in any amount that you want.  by having a joint account, you are basically permitting one another to have access to the money in the account where either one of you may take the money at any time and use the money for whatever you want without being charged with a crime since the money is owned jointly.  I assure you however, that you taking the money will upset your mom and you will lose trust and she will likely never have you as a joint holder of anything.  you should be sensitive here and make sure your mom knows what you are doing.