ケーラー モリエ

The term Haha 母 is used when you are talking about your mother this is quite formal.

these are the different ways to say mother
Okasama お母様(very formal)
haha 母(formal
Okasann お母さん(casual)
mama ママ　(very casual)

Grandmother

sobo 祖母( very formal)
obasama おばあ様(very fomal)
obachann おばあちゃん(casual)
baba ばば(very casual)

Mother in law

girinohaha 義理の母(very formal)

since japanese woman respect their husbands mother so much there are no informal ways to call your mother in law.
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Father

Ochichiue お父上(very formal and old style)
otousama お父様(very formal)
chichi 父(formal)
otousann お父さん(casual)
papa　パパ (very casual)

Grandfather

sofu祖父( very formal)
Ojiisama おじい様(very formal)
Ojiisannおじいさん(formal)
Ojiichannおじいちゃん(casual)
jiji じじ（very casual)

Father in law

giri no chichi 義理の父 (very formal)

Like mother in law japanese people respect older generations.