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This video here should help: https://www.youtube.com/watch?v=PQ7EI7Nqaa8
If you didn't get the prompt, perhaps you didn't damage the limb enough, as F35 suggested.
edit: furthermore, to perform a finishing move, you need at least one bar of energy - the blue bar below your stamina and health. You gain energy by dealing damage or by picking up special blue items that sometimes appear after combat, as well as by collecting enough scrap metal to buy another level. The first method is the only one you have to worry about for now. If you attack frequently, gaining a full bar of energy shouldn't be a problem.