Q: Stalling when put into reverse

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Car cuts off when I change gears and makes noises when I accelerate. My car sounds like something is flapping under it. It starts right up but stops when I put it in reverse. When it is in reverse and it finally keeps running, it jerks like it wants to cut off. It whines when I'm idle and sometimes sounds like it's scraping when I let off the brake.

My car has 41035 miles.
My car has an automatic transmission.

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