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If it actually goes on and finishes the cycle and that really bothers you replace it. If not leave it alone and allow a little more time to complete its cycle. The lid switch only keeps the spin cycle from going with the top open.
There is still water in the machine , the pressure sensor my not be operating there is a loose contact in the motor spin winding or the timer no supply voltage is going to the motor check the votlage at the motor at spin cycle
If you timer switch "skips" the spin cycle (passes through it faster than normal) then it is probably your timer switch.
Or it could be your transmission. The transmission is a two speed unit and the wash cycle is the slow speed and the spin cycle is the fast speed. So if the problem is only the spin cycle then it could be transmission problems. BUT since the transmission is normally a sealed unit on the newer machines you will have to replace the entire transmission instead of just the high speed gear.
The transmission in this machine is worn and is not shifting correctly. Understand that after the aggitate cycle, this machine should go into drain cycle without spinning and it should drain for about 1 minute. Then it should kick into spin cycle after it has emptied all the water. What is happening is it is (like skipping) the drain cycle and going directly into spin with water still in it,,, so the spin is slow as it is trying to empty and spin at the same time,,, thus the clothes do not spin out correctly,,, when you reset the spin, you actually spin all the water out the second time around.
if that is a top load whirpool suspect transmission..the transmission is designed to drain first and then after another timer pause go into spin sometimes after the pause they fail to do so it is a hard problem to verify without a lot of patience..put washer into final rinse allow washer to complete cycle on it's own DO NOT MANUALLY ADVANCE TIMER OR OPEN LID if possible you can raise lid and hold lid switch down.. after agitation there should a short pause then pump out then another pause and spin should engage if you do not here spin raise lid then shut if spin starts change transmission..on rare ocassion have seen timer never pause then change timer if this is only occasional may be hard to spot and may require more than 1 attempt to catch it..good luck
the motor operates off the timer cams inside the timer. in the wash mode the agitator turns in one direction. when it calls for tub empty the motor reverses direction and actuates the pump. at this stage the tub should spin. sounds like the timer is bad for this one function. timers cost around $120. (mechanical timers)