I have an 02 Accord LX I4 and whenever I brake lately, it feels sort of like a slight pumping action especially when I'm just about to stop. It's sort of like a back and forth motion of the car (not the brake pedal) every second. But the steering wheel doesn't vibrate at all. I can let go of the wheel and it will stop in a straight line. And I don't have ABS.

It still seems to braking with the same force, but the slow forward jerking motion is starting to get annoying. At first I thought I had warped rotors but it seems the steering wheel usually vibrates in that situation.

So I'm not sure exactly what's wrong and I was wondering if anyone here knows what I could do to fix this.

I have stock rotors and pads and the car has 23k miles on it.