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Kenmore washers could hold a few problems. First, without a model number you don't know who makes it. See, Kenmore does not make washers, they have someone else make them such as Whirlpool or Frigidaire. More that likely you have a Whirlpool (which is a good thing). What you are probably hearing is the coupler of the machine broken. A coupler is what replaced a belt in the newer machines. This piece is installed in between the motor and transmission. If it breaks it makes a loud rattle/grind sound. It is possible that the transmission is also the culprit. However, this noise is entirely different. A bad transmission generally makes a loud screech noise. If this does not help, please post a model number of the washer and I will gladly further assist you :)
If both things have something to do with one another. It sounds like a bad motor. When you removed the coupler, did you notice if the part that goes over the shafts might have been cracked. If one is, it will spin on the shaft. But the motor keeps coming up when I read your description.
The problem is a communication error between the control panel and the control board and the motor control. You can try unplugging the washer for about 5 minutes to reset it but if that doesn't work you will need to replace one of those parts. Without hooking up a volt meter however to determine which one is causing the problem I couldn't tell you which one. You may need a tech to come out and see what one of those three is the problem. Try unplugging it first though and see how that works. Let me know if you have any other questions and if this was helpful to you. Good luck and I am glad I could help you.