You put it into service mode and there are no error codes?

Eric

Tilt the machine back to gain access to the drive components. There may be a sound absorber that has to be removed. Remove the belt guard and check the belt and that the nut holding the main drive pulley is tight. There should be a manual up inside the cabinet. It will tell you how to get into service mode to check for error codes and to troubleshoot the washer. If the belt and pulley nut are ok I can give you some further information. These washers are very problematic with a host of common problems.

Eric

That's what I figured. The shift actuator is a very high failure item on these washers. The lid switch is probably ok.

Whirlpool W10006355 Actuator - AppliancePartsPros.com

Eric

There is a test procedure for it in the manual (tachometer verification) but these things have been known to pass the test yet still fail in actual operation. As I said, it is a very high failure item. If you buy parts from APP and they don't fix the problem, you can return them. If it does pass the test, it may be that the motor fails to run. During the test, you rotate the basket by hand while in actual operation of course, the motor is driving the basket. If the motor doesn't appear to rotate when it should, look for broken wires at the capacitor connection, and at wire tie-down points in the wire harness run from the motor and at the coil of wire that you see under there. Loose connections and broken wires are common problems. Look closely at the capacitor for cracks/splits/holes. Another common failure item. Hate to tell ya but this washer design is a piece of junk. It is the basic design for many different models sold under various names (Whirlpool, Maytag, Kenmore, Roper...etc.) Almost daily complaints about them on the various appliance forums. The design has only been out for 3 years.

Motor current does pass through the lid switch and you did get an error for that but usually, you will get the flashing lid lock lamp if it fails. You can test it with a multimeter.

Eric

Yes, the actuator does three things. It shifts the splutch between agitate and spin positions. There is a switch in it that closes when the shifter is in the agitate position and opens in the spin position. This tells the control board what position it is in. There is also an optical sensor that fits up into a hole in the bottom of the transmission case that is used to determine if the basket is rotating and the control board determines rpm based on the signal from the sensor. So it's certainly possible for the shifter motor that operates the splutch is working but the switch or sensor could be faulty. If the basket is really hard to rotate, there may be clothing caught between the tubs. You would have to take the top cover off and take the tub cover off to see between the tubs.

Eric