Diagnosis
That's the classic sound of a worn-out spider arm. The spider is a three-armed bracket that connects the inner tub to the transmission shaft. On these models, it's made of aluminum and can corrode and crack over time, especially with heavy loads.
How to Fix It
This is a major repair. You have to disconnect everything, pull the entire tub out of the cabinet, and separate the inner and outer tubs to access the spider (it's bolted to the back of the inner tub). The part number is often W11038757. You'll need a special spider arm removal tool or a very large socket. While you're in there, check the tub bearings—if the spider failed, they're probably shot too.
If That Didn't Work
If the noise is more of a high-pitched squeal or whine during agitation AND spin, it could be the motor coupler (a cheap plastic piece with three arms) has sheared. That's a much easier and cheaper fix—it's behind the back panel.
Heads Up
This isn't a beginner job. The tub assembly is incredibly heavy. Assess the cost of the parts and your labor versus the age of the machine—it might be the tipping point for replacement.