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What you're describing COULD be what is called "disk brake chatter". The problem is caused by heat, which eventually will warp the rotors. If the rotor is warped the disk brake pads grab with different force as the warped rotor changes angle toward the brake pads. If the problem IS disk brake chatter, the only options are to have the rotors turned or replace them.

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Q: What would cause your car to make a weird jerking motion while you press the brakes?
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