EPC light, limp mode

Hello, last night and one other time before my car listed above when I started to accelerate after stopping at a stop sign all of a sudden it wouldn't go faster than 5 miles an hour. I had to go on a side street I turned off the car wait a minute. after I took out my key and then I put the key back in and start it up and then it went back to accelerate normal, but the light still came on. there was also like a circle around a triangle thing orange also in the dash.