Kenmore Series 90 Washing machine not spinning?

My Series 90 Washing machine does not spin unless I open and shut the lid. It fails before the rinse and after the rinse during the final spin. If I open and close the lid it will start the spin cycle unless I have washed several loads of clothes. It seems that the symptom gets worse as the washer heats up from use. I can eventually get the spin to start by opening and closing the lid multiple times. Any help on a diagnosis would be appreciated.