Whirlpool washerwtw5000dwo

Brand:whirlpool washer
Model Number:wtw5000dw0
Main Symptom: water and clothes still soaked after cycle
What happens & when: rinse spin cycle does not work, did run reset and light duty warm water cycle worked all the way through clothes still soaking wet. Ran rinse/spin cycle were grinding And pump does not run in this cycle long as it shuts down, removed switch actuator tested with 120volts and it works smoothly also replaced new lid switch and latch., need to know what is the problem?

Error Code (if any):
Parts or tests already tried:
Photos / video link:rene

It would be recommended to check and make sure that the splutch assembly is in good condition. The splutch not engaging will cause the grinding noise when it goes into spin. Also, check the hub to make sure that it is not causing the grind noise.