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1. Warped Brake Rotors. This is the most common cause of a steering wheel shaking while braking. I would say that about 99% of the time a warped rotor is causing your steering wheel to shake when you step on the brake pedal. Most of the time you will also notice a shaking or pulsing in your brake pedal as well.
If you feel a vibration/shake with your vehicle, you can narrow down the location of the cause: 1  If you feel a vibration in the steering wheel or by your feet; the cause is coming from the front of the vehicle.  If you feel a vibration in your seat; the cause is coming from the rear of the vehicle.