Maytag top loading washing machine full of water at end of cycle
Is the washer particularly full when this happens, or are you setting it correctly for the load size?  If the clothes can't move freely in the water, they can clump together on one side of the drum, causing it to be unbalanced when it starts to spin.  Your washing machine is then stopping at that point in its cycle to prevent it from damaging itself, or from walking across your laundry room floor.