Jay -
It's sort of like this when at the doctor's office "Doc, when I move my elbow back like this, it hurts". Doc says "Well then don't move your elbow back like that!"
In this case, the buzzer you are hearing is an off-balance relay that was standard in most (not all) upper end Kenmores. The relay is a kick-out switch that the superstructure of the machine strikes to purposely shut off the whole machine. This is intended for off-balance loads during spin, but I have heard of machines striking the kick-out during agitation too. Don't push the tub back on purpose while it's running.
A badly out of level machine can do this, and also one with a weak, missing, or broken snubber pad & spring. The snubber dampens the oscilations caused by torgue from agitation. I can tell you probably by looking at your video if the machine is not getting the needed effects of the snubber, or if you take a picture under the top, I can tell that way too.
The buzzer resets itself each time you push the timer knob in to turn off the machine. There should be some brief instructions about this under the lid. Definitely however, the machine needs to be level. If it is leaning back or toward the right, this will make it more likely to activate the relay buzzer.
Gordon