After posting the video, I checked out youtube, there are so many good videos about washing machine repair there.
One of the videos advised checking the motor coupler, and after watching a disassembly video, I had the broken motor coupler in my hand in about 3 minutes.
I found the necessary parts online for $12, while I was there I ordered a new set of dogs for the agitator as well
So, for $25 plus shipping, my washer should be good as new.
Thanks for the reply, and the correct diagnosis,
Nick H.