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Your washer most likely has a broken drive coupling. If broken the washer will fill with water and drain, but the motor spins without driving the transmission (no agitate or spin). The part is common to all whirlpool washers made in the last 20 years and is readily available at all major appliance part stores. It is possible to change this part yourself but much less hassle to get it changed by a pro
I fixed it yesterday. After checking the continuity of my lid switch and pressure switch and finding them ok I removed the tubing from the pressure switch and applied air (blew into it). There was a clog and blowing on it removed it for now. Apparently the pressure switch was telling the machine that the tub was full of water and wouldn't let it start the spin cycle. I ran three loads last night and it worked perfect. I may have to remove the connection on the side of the tub and clean it properly if it clogs again.
It almost sounds like your motor is kicking out on overload. The fact that it starts agitating after the fill can rule out the pressure switch. You have installed a new timer so we should be able to rule that out. It's possible that your pump is binding, which is attached directly to your motor and causing it to overheat. To tell for sure you would have to check the motor to see if it's getting power when it cuts out. Check your terminal block where the power cord comes in to see if all connections are secure. Other possibilities could be the clutch and brake assy. With out being there too see the problem, this is where I would start.