TCrow2002WS6

Yesterday I was acclerating next to a friend just shifting around 4500 rpms or so, well when I shifted my shift **** kinda rotated causing my hand to slip off so the shifter kinda popped in 3rd then back out. My car shook really bad and the low traction light came on. I pull off into a parking lot and everything seemed fine but later that night when I was leaving my house my i think my rear end was making a grinding/rattling noise that i have not heard before. It does it only for about a 1/2 mile of driving right after start up then it seems to go away. Anybody have any idea what this could be? any help appreciated...