Most probably due to worn rotors/pads.
Check for warped front rotors. under slight brake application it may not shake. But under hard braking such as getting off an offramp the truck will shake and the brake pedal may pulsate slightly. Chances are real good this is your problem.
The brakes are unevenly calibrated. The brake on one side is applying first, and with more power than the other side.
Cables frozen and not releasing completely Parking brake not adjusted properly and dragging Service brakes not adjusted properly not allowing parking brake to release
push the emergency brake pedal down ONE CLICK
Check your Caliper adjustment pins. They my be sticking.
Jack your truck up, take your tires off, and look at the brakes, you can usually see them. if not you need to take the piston housing off that pushes the brake pads against the rotor. another clue that your brake pads are worn is your brake fluid. if its low it usually means your pads are worn (the more you have to push on the brakes to get the pads to push on the rotor the more fluid is used) Jack your truck up, take your tires off, and look at the brakes, you can usually see them. if not you need to take the piston housing off that pushes the brake pads against the rotor. another clue that your brake pads are worn is your brake fluid. if its low it usually means your pads are worn (the more you have to push on the brakes to get the pads to push on the rotor the more fluid is used)
i do have 2002 explorer v6 4x4 sometime when i drive in the highway the truck feel alittle shake is just 2 secund that but just early i try too push the gas pedal but the truck feel it stock or the brake was on so my over drive light come .i just the tune up days before
brake rotors out of round
You have a "Warped" brake rotor. It needs to be replaced
The truck needs a tune up.
Sounds like a faulty btsi solenoid (brake transmission shift interlock). Key on push on the brake and listen for a click by the shifter. If no click try wiggling the shifter and pushing forward.
When you push the brake pedal.