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I have not had experience with fuel injected vehicles, assuming yours is, but I have experienced such a thing on many occasions with carburated vehicles. On such, plugged jets in the carburetor actually cause the vehicle to shudder when under load. If the vehicle is fuel injected and hasen't been serviced recently you may want to have this checked out.

Another AnswerIf an automatic vehicle and feels like you're driving over a cattle guard, good chance it's the torque converter that's going out. If so, it doesn't happen so much if you take off from a stop and continue a constant and somewhat aggressive acceleration. It also happens every time if going through a school zone at 35ish for a while, then trying to speed up. That's a torque converter unable to lock up. When you feel it, back off the gas! If that torque converter does come apart inside, your car is going nowhere.
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Q: What could cause a car to shudder upon acceleration?
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