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If it is a top loader, there is a clutch, with clutch dogs and below that, a gearbox. It is not a nice job full of black grease and often needs special tools. Call for service.
The top blunt end of the agitator is threaded and when removed allows to agitator to come off. Lots of lint and old soap accumulate there and can pretty much "glue" the agitator in place. Once gone, you will see the drive shaft from the gearbox sticking up. I think you need to pull the gearbox to get to the seal. The gearbox is filled with nasty surpy "blackjack" grease and can be reused. You might get the repair kit from the manufacturer. That will include all the seals and "O" rings needed to keep the tub from leaking and the grease inside the gearbox.
What made you replace the motor? Sounds also like a transmission problem. You motor reversing in spin but gears for agitate stripped in gearbox. Double check motor/coupling alignment. Pull the motor back off and turn the gearbox drive shaft both directions. One direction makes the basket turn, the other direction makes the agitator turn. If the agitator does not move, the gear case is bad.
The agitator and drive gearbox are all one part and are not serviceable (sealed), if it is the gearbox the machine is possibly scrap as the part is more expensive than a new machine. Will need further investigation.
Is the spin OK (quiet) the motor rotates one way to agitate and the other way in fast to spin, the belt may be removed at the middle pulley (Below) rotated in each direction to test. try the machine without the belt and listen to motor.
When the machine drains etc the gearbox locks up and the whole unit drum box and all spins when washing the gearbox innerds move the otherway so to speak and this cuasees a washing action this sounds as if the input shaft may need replaceing but it is usually better to replace the gearbox depends on finances but to be sure get a technition in to check and quote you first this is not something you can do if you have not done it before
Removing the agitator will not stop the grinding noise. Usually a bearing/gearbox problem going bad will create a howling grinding noise. You'll definitely hear it in the spin cycle. These are an expensive fix and require special technician tools to disassemble the unit. The gearbox is a sealed unit. Most manufacturers warranty their unit's gearbox for 5 years regardless the warranty you got when you purchased the unit, so check into this before you void your warranty. (The manufacturer requires their factory authorized service technicians to do the replacement) All in all if you do the work yourself it'll be approx $250 for the parts and gearbox transmission. To have the work done is usually much more.
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