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Since the washer will agitate and drain the most likely cause of this issue is the clutch. Here is a video that demonstrates gaining access to the clutch;
. You will need to determine if the clutch is worn or damaged.
Always unplug or de-energize electrical equipment before removing covers or attempting service. Be careful and wear appropriate hand protection when working around sharp metal parts.
The washer in this video may not look exactly like yours, but the procedure is basically the same.
If you do not feel confident repairing this problem yourself, then you can have it repaired at your home by a Sears technician. Here is a link for the website:
Sears Home Services
Here is a link that you may use to view the parts list diagram and for parts purchases;
Sears Parts Direct
I hope this is helpful. Check the things I have covered here, and if I may be of further assistance as more details become available, please reply to this post.