They seem to have a plastic gear built in as protection for overloading (prob). When the machine counters to much resistance that gear will strip its teeth causing the machine to not be able to turn, that it what seems to be the grinding problem. If it is not the plastic gear then it another gear that is "stripped(of its "teeth") I hope your problem is not a severe, but if your mixer is "locked up" then at least you found the problem.
Make sure your Beater can slip in and out of the Beater Shaft
easily. Do not force the beater onto the Shaft if the shaft is bent.
If it cannot be removed easily by hand, use a soft rubber mallet
(not a steel hammer) to slightly tap the beater so it can be moved
up and down the shaft or from side to side. Then you can easily
turn the beater left and remove it from the shaft.
From Kitchenaid Manual:
To Attach Flat Beater, Wire Whip, or Dough Hook
1. Turn speed control to OFF.
2. Unplug stand mixer or disconnect power.
3. Tilt motor head back.
4. Slip beater onto beater shaft and press upward
as far as possible.
5. Turn beater to right, hooking beater over pin on shaft.
6. Plug into a grounded 3 prong outlet.
To Remove Flat Beater, Wire Whip or Dough Hook
1. Turn speed control to OFF.
2. Unplug stand mixer or disconnect power.
3. Tilt motor head back.
4. Press beater upward as far as possible and turn left.
5. Pull beater from beater shaft.
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