SOURCE: Whirlpool Ultimate Care II washing maching but will not spin.
lid switch is bad chance are you can by pass this by removing the timer header and crossing the outer wire on the lid switch that it mounted closest to the lid not the power cord this will tell you if you need a switch
SOURCE: Whirlpool Ultimate care II Washer Agitator not turning
replace the dogs in the top portion of the agaitator, the agaitator top comes off and you will see the four dogs part number is 285707 about 3-5 dollars
SOURCE: Whirlpool ultimate care II super capacity plus
If the bottom half of the agitator is turning and the spin cycle works, then the motor coupling is good.
Check the agitator by turning it back and forth. It should work like a
ratchet (turns one way, locks the other way). If you're able to turn it
in both directions, the agitator dogs are worn and need to be replaced.
To do this remove the agitator cap and the bolt that holds down the
agitator. With the bolt out you can remove the top section of the
agitator (auger) where you should see 4 small white or beige plastic
gears (dogs). Replace those and it should be ok.
The part number is 80040.
If it there is no agitation or spin, replace the motor coupling. 
The part number is 285753A
SOURCE: Whirlpool Ultimate Care Heavy Duty Washer will not spin
It sounds like you have a broken motor coupling. This is a very inexpensive and simple repair.
If the washer will fill and drain, but won't agitate or spin, you may have a broken motor coupling. The noise of the motor engaging, lack of agitation and ability to still drain are the usual symptoms. This is a common fail item with this model washer through normal wear and tear. Newer versions of the coupler are more resilient and resist breaking. The following link explains how to replace one:
http://www.fixya.com/support/r385252-replacing_motor_coupling_whirlpool_top
The motor coupling is located between the drive motor and the transmission and takes the place of a drive belt. They do wear out and can break. The replacement part number is included in the link I provided and is an improved upgraded coupling that is more resilient. It should last longer. If you have questions, or require additional assistance, please let me know. I hope this helps you.
A replacement coupler can be purchased on line at appliancepartspros.com for about $11. Just use the part number in the link and "Search by Part Number" for your search criteria.
SOURCE: How to separate auger from agitator. whirlpool ultimate care II
When you look down into the agitator, are there 4 white plastic points that look slightly melted or otherwise deformed? If so, using a small flat head screw and a small hammer, separate the white plastic from the surrounding translucent plastic. Once you've done that, it should easily pull apart.
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