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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.
Wheel bearings can become worn out or damaged, which causes the steering wheel to vibrate. If the wheels move in and out with the car elevated, the wheel bearing needs to be replaced. Rebalancing the wheel system periodically also minimizes the shaking steering wheel.