I took the washer completely apart to inspect the bearings and spider. Both seemed fine, I did take this opportunity to scrub the drum clean both inner and outer. Found a YouTube video of a guy describing a similiar problem to mine. He was able to fix his washer by replacing the motor postion sensor. It was an easy and cheap part to replace after having disassembled and re assembled the whole drum assembly the prior day. If I had known for sure what the problem was from the start it would have been a 15 minute job. I had no prior experience working on a wash machine. YouTube is awesome, and so are the folks at appliance parts pros. I had the part delivered on my doorstep in under 24 hours. Thanks!