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It sounds like it is your water level control. Here is a link to the Kenmore site which has your manual use these numbers ( Kenmore washer 26 26962 ) for your model unless asked for more Kenmore Manuals
I would check your belt. From what you've told me, your electric pump is working and receiving power from your lid-switch, but your motor and transmission is not turning/agitating.
Meaning, your belt is most likely, NOT engaging or grabbing your pulleys to rotate the motor/tranny. Belts will ware and tare, just like your vehicle fan belts. Change it! You should be good!
If not your belt, your lid switch may be the culpret. However, from what you've described; very unlikely because your water pump is turning on and receiving power from the "lid-switch". The switch becomes defective after constant use and slamming/dropping of the door. The purpose of the lid-switch is to prevent accessing your clothes when in spin-cycle (dangerous)
Your lid switch is probably damaged or loose. Examine the lid switch on the right-hand side of the washer tub opening. There are two screws that hold the switch in place. Check to see if they are loose. In addtion, the lid should have a small plunger that depresses the switch when the lid is closed. Make sure it is intact and not broken. If the switch is tight and the plunger is intact, the switch has probably been damaged and needs to be replaced. If you have the type of washer that has no visible plunger and/or switch, the lid switch is locate in the rear on the left hand side and has a small arm attached to the lid that activates a contact when closed. Often this arm can get bent and will not engage the lid switch contacts. A simple adjustment (sometimes) can correct this. I've seen a lot of these switches where the casing on the switch separates and the contacts will not close. Slamming a washer lid is highly NOT recommended just for this very reason. The switch is an easy replacement and costs roughly $35. If youy post back with your model number I can research to find a part number for you. I will also give you step-by-step instructions on how to replace it. I hope this helps.