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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.
The common type of vibration is mainly felt through the steering wheel of the car as it accelerates, and it is a very dangerous condition because it can cause unstable conditions that can lead to loss of control especially when avoiding a collision or making a sudden turn.