Short answer: A garage door that shakes or jerks usually has dry or worn rollers, dirty or bent tracks, loose hinges or brackets, or a balance problem with the springs. Cleaning the tracks, lubricating hinges and roller bearings and tightening hinge screws often helps. If the door moves unevenly, hangs crooked or the shaking gets worse, stop using it and have a professional check it.

A garage door should move in one smooth, steady motion. When it starts to shudder, hitch or jerk, something in the system is fighting it. Sometimes that is just dirt and dry parts. Sometimes it is a sign of a bigger problem. Here is how to tell the difference.
Stand inside the garage, clear of the door's path, and run the door through a full cycle. Watch both sides. Ask yourself:
A door that shakes at one spot often has a problem in the track at that spot. A door that shakes the whole way may have worn rollers or a balance problem.
Unplug the opener before you work near the door or the rail.
Plug the opener back in and run the door. If it is smoother, keep up with lubrication a few times a year. If nothing changed, a part is likely worn or out of adjustment.
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Balance tells you how well the springs are doing. If the door feels heavy from the start, you can see a gap in a spring, a cable looks frayed or loose, a roller is out of the track, or the door hangs crooked, skip this test and call a professional. Otherwise, with the door fully closed, pull the red emergency release so the door is off the opener. Lift the door by hand to about waist height and gently let go, keeping your hands ready.
A balanced door stays about where you left it or drifts slowly. If it drops quickly, shoots up or feels very heavy, the springs likely need adjustment. Lower it, reconnect the opener and call a professional.
Some signs mean the shaking is more than wear. Stop using the door and keep everyone clear if:
These point to springs, cables or the track, and all of them are jobs for a professional. If the door has come out of its track, see garage door off track: what to do first. For cables, see garage door cable warning signs.
A door that shakes puts extra stress on everything it touches. Hinges loosen faster, rollers wear unevenly and the opener works harder than it should. Left alone, a little shake can turn into a door that comes off track or an opener that wears out early.
A yearly tune-up checks rollers, hinges, tracks and balance, and lubricates moving parts. It is one of the easiest ways to keep a door running smoothly. See what a garage door tune-up actually checks.
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Common causes are dry or worn rollers, dirty or bent tracks, loose hinges and brackets, a balance problem with the springs, or a worn opener drive.
Often you can improve it by wiping the tracks, lubricating hinges and roller bearings, and tightening hinge screws. Springs, cables, bottom brackets and bent tracks should be left to a professional.
It can be. If one side moves ahead of the other, the door hangs crooked, a cable looks damaged or the door feels heavy, stop using it and call a professional.
It can. When the springs don't carry the weight evenly, the opener pushes and pulls against the door, which can make it move in a jerky way.