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It sounds as if you may have worn or broken agitator "dogs". Several online retailers offer a replacement kit for your particular Whirlpool model. I believe the Mfg. Part # for that model is 80040.
Check to ensure that you have selected "CB" and not "PA" on the face of the radio. If the radio is older, or has been mobile for some period of time, you may want to maneuver this switch back and forth a few times just in case it's has fallen prey to an internal contaminant.