Determined the belt was okay (checked this because of the burning rubber smell) by restarting the cycle and watching the drum move unimpeded and without noise. The noise started when the cycle was at the first attempt to drain.
I googled Whirlpool washer pump and watched the Appliance Parts Pros video. I took the front access panel off and restarted the cycle. When draining started, it was quickly obvious that the noise and vibration were coming from the pump.
It was about 5:30 PM east coast time when I started looking for an available part. Appliance Parts Pros had the least expensive pump (OEM0 part (there are a lot of knock-offs one supplier had it for $15-$20 with bad ratings that I avoided) and promised same day shipping. The part arrived mid-afternoon the next day (I paid expedited shipping for a few dollars more and still cheaper than other places). The new part was in by 6:00 PM (after work ended) and was very close to the video. All of this in about 24hours elapsed time. Kind of amazing what can be done these days.
Overall a very good experience, good video, good part, fast delivery, easy install, and a happy wife.
I took the old pump apart ( can't help myself) and found a collection of money, hair barrettes, ponytail bands, and the primary culprit - a plastic glove. Still glad I replaced it instead of cleaning out the old one and putting it back in because there was a little leak under the washer that has sense gone away.