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That means there is a fault in the airbag system. Every time you start the vehicle it will do a self check. If the self check fails the light will stay on.
You will need a higher end scan tool to pull codes from the airbag module. Once you know what codes are present you will have a better idea of what direction to head into.
Post the codes in the comments below and I'll do my best to help you figure it out.
Your car is fitted with speed sensitive pas.The judder you describe is pas pump clutch slip,it is just one of those things that happens sometimes,it is not dangerous/just different and it will not cost you a thing to repair,if you can live with it.it is quiet common......(it is trying to make the pas go back to straight ahead)
The air bag module monitors all of the electrical circuits of the air bag system. If it detects a fault in any of these circuits, it will cause the air bag light to come on. If it's flashing, count the number of flashes between pauses, this should be the diagnostic code the module is telling you what is wrong with the airbag system (or you can use a scan tool) The only way to keep the light off (besides removing it from dash) is to repair the fault, you can clear the code with the scantool, but it will come right back on if it still sees the fault.
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