It is most likely a stripped gear. Here is a link to the parts manual which contains the listing of the gears and shows you how to split the gear case.
http://shared.whirlpoolcorp.com/assets/pdfs/literature/Repair%20Part%20List%20-%208212057.pdfRemove the chrome ring with a screwdriver by prying it off carefully. This exposes 5 screws, however they can't be accessed on all models. Remove the pin (17) that goes through the planetary housing and the drive shaft, and carefully drive the planetary housing from the shaft to expose the screws. Then remove the 5 remaining screws and split the case to expose the gears. The worn gears will be obvious.
Also check the bearings. Replace all affected parts. Remove all grease since metalic pieces will have contaminated it from any worn out gears. The grease is a special food grade grease which you can purchase along with the gears and bearings.
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