15 year old Whirlpool Cabrio

Your machine thinks it’s a dog. A very common problem with older Whirlpools

It sounds like the gears that engage and disengage to switch between spin and agitate are grinding together. I'm not exactly sure what this one looks like exactly, but there are 2 possibilities. 1.One of the gears or springs that are part of it are damaged 2.The motor that swaps it from spin to agitate is not working properly. I would recommend tipping it back and looking on the bottom of the tub to see if you can spot any broken gears or plastic