Q: Transmission shudders when accelerating from a stop

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MY transmission in my 95 Ranger shuttered when press the gas from a complete stop. It shifts gears fine once I get going but once I stop it feels like the truck falls into neutral. I have to manually shift the truck from P to D in order to get it to go and then sometimes it gets struck in 3rd. I went to get Lucas to put in the transmission and the worker at auto parts store said that it sounds like the 2 pads inside the transmission (he couldn't think of the exact name) have worn down causing the shutter and they need to be replaced.
My car has an automatic transmission.

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