Three possibilities here,
One, you've overloaded the washer with clothes, throwing the washer basket on tilt because of the extra weight and force against the agitator. Remove the wet clothes from the washer and try continuing the cycle.
Two, One of the elastic/spring arms that centers the basket inside the washer housing has broken and is allowing the basket to simply flop around. Disassemble the washer and inspect the basket supports.
Three, The center post that the washer basket sits on is going bad - The most common reason is that the bearings have gone bad. Disassemble the washer and replace the bearings at the base of the basket where it connects to the motor.
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