Replace the motor coupling.
This assumes that you have a basic Kenmore / Whirlpool top load, direct drive, neutral drain (it doesn't spin until the pump removes most of the water) machine.
First, see the Sears parts site for your washer:
http://www.searspartsdirect.com/partsdirect/index.action
Enter your model number (###.########) and you'll see a list of major sub-components with diagrams and parts.
There are two possibilities that come to mind.
The first is that one or more of the springs and/or Vibration Pads has come loose or worn.
See the Sears site for the location of these.
Following is an illustrated description of how to remove the cabinet to gain access to them.
http://www.american-appliance.com/catalog/newsdesk_info.php?newsPath=16&newsdesk_id=137&osCsid=e21523b6590d3d686d90313d81b014ee
If the springs or pads are damaged / loose, it's an eay fix.
The other possible problem is the Agitate Cams in the transmission.
Replacing them sounds difficult but isn't really.
See the following PDF Whirlpool / Kenmore service manual for top load, direct drive washers.
https://secured.whirlpool.com/Service/SrvTechAdm.nsf/2cd44500d572193285256a45004fd9d6/f7e2147fa98b28cf85257122007475cb/$FILE/L-55.pdf
Also see the following Whirlpool document on how the transmission works.
https://secured.whirlpool.com/Service/SrvTechAdm.nsf/2cd44500d572193285256a45004fd9d6/2550f737b3129b0c85256b0600504738/$FILE/787772%20%234.pdf
Basically, When the washer switches into spin mode (the motor reverses) Two plastic pieces are slid together to move the agitator shaft above the transmission drive shaft so that the agitators don't turn with the tub.
If the cams are worn, the agitators won't raise high enough (about 1/16") and you'll hear a major grinding.
Replacing them requires removing the transmission. Also not all that difficult.
I had the same problem with gear grinding and this solved it.
Pull the transmission.
Remove the clutch (the spring holding the clutch to the spin pinion is a bear to replace.
Remove the 8 transmission screws carefully, the transmission is full (15 oz.) of 80-90 weight oil.
Remove the transmission cover.
Pull off the spin pinion.
Push down on the agitate spring and remove the spring clip. Note where is attaches to the main shaft.
The two plastic agitate cam parts pull right off. Don't lose the washer on top of the cams.
Replace the cams, washer, spring and clip, pinion, oil (assuming you drained the oil first), cover and clutch parts.
Line up the transmission so that the release cam on the brake drum will snap onto the clutch spring retaining clip and put all parts back in the washer.
The basic tools are screwdriver, small socket set with up to a 1/2" socket, vice grips or good pliers (to remove and replace clips)
Following is the Whirlpool parts list for their commercial washers although the consumer models use the same part numbers.
http://shared.whirlpoolcorp.com/assets/pdfs/literature/Repair%20Part%20List%20-%20W10114743.pdf
We found the right part number (Whirlpool part # 62580 / 81) which includes both the cam and follower. Bought one for about $10. and all told, fixed the problem for less than $20 (including 80-90 weight gear oil) instead of a $170 transmission.
Gear oil can be found at any auto parts store.
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