Rattling sound and vibration on shift from neutral to drive with brake on.

What is your question?

as soon I shift from nutral to drive with foot on brake , i hear rattling sound and vibrations. as soon i lift off the brake and the car moves the sound and vibration goes off. moreover while accelerating at a speed of 50/55 MPH the car shudders. i press the pedal further it revs up , shifts the gear down and the shudder goes off.