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2000 impala engine shaking?

I own a 2000 impala ls with the V6 3800 series 2. Any time I am on the highway and accelerate faster than about 50mph the car shakes. It feels like it is coming from the motor and I can even feel it in the steering wheel. Any ideas?
Brandon, July 2015
Tires

len waldo, July 2015
Check there are no pulleys with excess play/out of balance

cdc, July 2015
link Click here to see other fixes for Chevrolet 2000 Impala LS.