We have the same problem with many other with your washer. You can have a look to the videos below http://www.youtube.com/watch?v=HQCS3emiOpc&feature=related http://www.youtube.com/watch?v=CmzMYfM7Ehw And others And compare to the one below which the last model which mean that whirlpool know the problem with previous models like your with loud noise and vibration. http://www.youtube.com/watch?v=QczlYr5glsA&feature=related You can try to unjust the feet and find a vibration elimination floor to put under just to minimised your problem but still a design problem from whirlpool engineer.
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