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1. Warped Brake Rotors. This is the most common cause of a steering wheel shaking while braking. I would say that about 99% of the time a warped rotor is causing your steering wheel to shake when you step on the brake pedal. Most of the time you will also notice a shaking or pulsing in your brake pedal as well.
Vibrations in the steering column can happen for a number of reasons, such as a busted motor mount, bent rims, bad CV joints or loose lug nuts [source: Distad]. But none of these automotive problems would cause a steering wheel to shake only when the brakes are applied.