Check the wheel bearings and set up on the rear wheel, it may be just the matter of adjustment.
Sounds like a bent rim or it's out od square in the frame.
To check the "Out of Square" measure the distance from the rear axle to a point on the frame on each side of the bike. To check the rim for trueness; take the wheel off the bike mount it on a holder (or just hold it out at arms length with both hands and have someone spin the wheel; if it spins straight, the problem is being out of square on the bike, if it wobbles it's a bent rim.
Is this on a Focus or a Bicycle?
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