Yes you need a coaxial cable connected to the TV.
Are the TV,s the old analog type supplied in 2002? If so you will need a digital converter, or replace the TV with a newer digital type.
Does the RV have a digital switch-box? Set the box to antenna setting.
Doe the MH have a good antenna? The type that raises and can be aimed? If not you range may be less than 30 miles. The antenna booster must be turned on to amplify and receive a decent signal.
All digital televisions must run an "auto search" to locate signals and place the channels into memory each time you move to a new area.