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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.
Odd vibrations coming from the steering wheel or gas pedal are a sure sign of an exhaust leak. You may also feel the whole car shake if the exhaust leak is big enough. These vibrations are a safety issue as well as a car health issue, because they can alter your ability to control the vehicle with precision.