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wip the top off and have a look at the big stabilizer springs that hold the drum up if one is missing or broken off replace it,,,,if these springs brake or fall off the washer dose a grate dance around the floor done it?
It could be caused by loose or damaged bearings or even damaged belt. You might have to replace worn out belt and bearings. Also find out if the washer is sitting on an uneven platform. Make sure the floor is even and the machine is not tilting.
Every washing machine has crew type legs on each corner, if it teaters from corner to corner it is not properly leveled. you need to adjust the legs up and down until the machine is level and does not teater from corner to corner, like rock solid..when you put in a load of lawndry that is lop sided, the machine has a tendency to dance around the floor during the spin cycle, to stop this open the lid and re-adjust the lawndry evenly then close the lid and it should quit dancing around the floor.
Now if your floor is too weak, you need to get under the house and put in somemore beams to support the weight of the machine....
Cars, does the basket lean to one side? There might be a couple of issues. The coupler that seats between the motor and trans could be wollowed out causing vibration. Another is that one of the balance springs came off or broke. I'm going to attach a photo of the springs so you can see what this looks like. You can remove the whole cabinet to check things out or tip the washer back and take a look.