transmission problem

i pull into my driveway tonight and put it in neutral and release the clutch. there is a grinding noise and a vibration. i put the clutch back in, no noise or vibration, put it in gear, it drives forward. back in neutral, release clutch, same noise and vibration. put it in reverse, release the clutch and it seems to pop into reverse and it jolts a litle bit before going backwards and it seems to buck when its moving in reverse.

next time your out on the thruway with your car in fifth, floor it and hold it there till like 3or4000 rpms…if it slips you know its the clutch. if its not the clutch say some prayers and take it to AAMCO or somethin