If the shaking always happens at a certain speed ( 40 -45 mph for example ) then you probably have one or more of your tires out of balance, any tire shop can balance your tires and check your suspension and cv shafts for wear.
...h at speed it's supposed to. Problem is noise and vibration. Once turned on the whole dash and steering wheel shake. Could this just be the wheel itself, instead of the whole motor and wheel assembly?