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That's going to happen no matter what you do especially when the washer goes the spin cycle to spin off the water. If it is shaking too violently I recommend making sure the washer is level as some washers need to be on a level surface. If it is not level use boards or get shims from your local hardware store or home depot to level it off.
Look in owners manual. I think these washers have a 1/2 hp. variable speed motor. make sure the washer is level from front to back and side to side, if its not that could be the problem. The motor has a lot of force, the squealing could be a bad bearing not sure.
I have the same kenmore and have experience this before. It is unbalanced. Get a spirit level to check for balance. To rebalance, empty the washer (so it's not heavy), lean over the washer and grab the back, tilt it forward and the auto balancing legs should reposition themselves. Re-check for balance using the spirit level. If still out, adjust the front feet of the washer by screwing the legs up or down (using a wrench). This will cure the problem (unless you have a very unbalanced load of towels for instance). Good luck