Should I go to the hospital?

I went to the doc Thursday and i was 70% effaced, lost my mucus plug, baby was in my vaginal cavity blocking my cervix, and I was almost 3 cm dilated. Doc did my membrane sweep. I was crampy and uncomfortable all day. Yesterday, lower back hurt basically all day and I couldn’t really time the contractions because the pain was just there. I was having some yellowish fluid that was mucusy come out when I went to the restroom. Doc said might be due to mucus sweep . Today, my stomach is softer and smaller. I’m still having back pain. Also, I felt some fluid and it had specks of white in my underwear. It’s not constant though so I don’t know what’s going on. I’m so confused!!