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The sounds of 'metal grinding/banging" begs the question of whether or not its even safe? If you hear that sound all the time or as you say ONLY during the agitation cycle suggests that you be able to service the tub/motor mounts in the underneath chass--which is a heavy-duty technician job. A Maytag technician has the tools you need. Or the obvious...get another one from a friend who is upgrading to a new washer and hands it down to you for a little change.
Your transmission has gone out. The reason the spin cycle works is because the transmission spins two different ways and you agitate way stripped the gear. Some places rebuild them. Try with your local stores maybe they can rebuild it or get you a good used one. If not you can order a new one from sears.com
I just encountered the same problem. I think the operation of the machine is such that the motor turns one direction for the spin cycle, and the other direction for the agitate cycle. I am replacing my motor, as I think i have a bad winding on the reverse. I will let you know.
Looks like the bearings may have failed. TURN OFF the POWER and try and rotate the agitator/tub by hand. If it is jammed you should investigate why. Possibly caused by bearing failure or something wound around spindle.
Take care and do not attempt to investigate the problem without first disconnecting from the mains!
If the fill and drain functions correctly, AND the spin cycle works correctly, AND the cycle itself starts and completes correctly, the problem being that the back and forth motion of the agitator starts the loud grinding noise, it will likley be broken gears in the transmission. The single most expensive part in the washing machine.