First, see the Sears parts site for your washer:
http://www.searspartsdirect.com/partsdirect/getModel!retrieve.pd?modelNumber=110.20722990&pathTaken=partSearch
and you'll see a list of major sub-components with diagrams and parts.
The first thing I'd do is try to bypass the Lid Switch by removing the Console and jumping the two outermost pins on the switch.
This is a Whirlpool PDF on how these washers operate. It has a diagram on jumping the switch as well as a detailed section on how the transmission works.
https://secured.whirlpool.com/Service/SrvTechAdm.nsf/2cd44500d572193285256a45004fd9d6/f7e2147fa98b28cf85257122007475cb/$FILE/L-55.pdf
It also has a troubleshooting guide.
To bypass the switch, you only have to disconnect the power to the washer, tilt the console back, unplug the switch and using a short piece of insulated wire, jump the two outermost contacts on the connector coming from the console and plug the washer back in.
Following is a description of how to gain access to the console and how to remove the cabinet if necessary.
http://www.american-appliance.com/catalog/newsdesk_info.php?newsPath=16&newsdesk_id=131&osCsid=913ba652cd504fb162f87d892bcb427b
With the jumper in place, try to re-start the washer.
If it works, the Lid Switch is a relatively inexpensive part and only requires you to access the console and remove the cabinet.
Beyond that, I'd use the troubleshooting section of the Service Manual to test the timer. First though, I'd try it on a different cycle.
SOURCE: washer stops during rinse cycle
It appears your timer/main controller/CCU has failed in this instance.
For replacement parts - head on over to PartSelect.com or RepairClinic.com and enter in your full model number for a full parts listing.
I recommend both sites because ...
FixYa has no affiliation with either site - I have been using and recommending them for years - trouble free.
PartSelect has a great schematic database for locating the part on your unit and great "testimonials" for each part that often times includes HOW-TO information.
RepairClinic has pictures of each part they sell and also a great how-to and troubleshooting for basic repairs.
If your unit has never been serviced - there should still be an original service manual enclosed in plastic taped to the inside of the shell.
In the service manual are Error codes, maintenance procedures, and troubleshooting steps you can follow.
Anything too complicated or beyond your scope should be handled by a professional.
If you think you want to tackle the repair - and have gotten stuck on a step - reply to your question and I will be glad to help you out.
Thanks for using FixYa - a 4 THUMBS rating is appreciated for answering your FREE question
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