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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.
There are many front-end problems that can cause your steering wheel to shake when traveling at certain speeds. However, if the steering wheel shimmy only happens when applying the brake pedal, the possible causes are narrowed down quite a bit! When you apply the brakes, the brake pads squeeze the spinning rotors to stop the vehicle.