I realized I may have offended a disabled person.
How did you offend the disabled person?
I made a comment about my annoyance at people asking for help.
Oh, ouch, yeah, that was inconsiderate. Did you have a chance to apologize?
Yes, I was told to get the fuck out.
Wow that seems a bit harsh, but you did apologize. If they don't want to accept that, then there's nothing you can do except to try not to make that mistake in the future.