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If it is lurching in one direction and not the other, check all the truck-to-loco and motor-to-truck mounting screws.

I am not familiar intimately with Atlas diesel construction - just a bit, though I own 3 or 4 - but I had a Williams diesel years ago that would lurch/bind in only one direction. It turned out to be the 2 motor-to-truck mounting screws were loose, allowing the motor/worm gear to tilt. One direction tended to disengage the worm and the spur gear, causing partial binding.  A loose truck mount screw can cause this sort of thing, too.

At slow speed the engine "bucks" as if a brake were on and moves forward with a jerking but continuous movement until it gathers speed and smooths out. Often it moves fine in reverse although sometimes has a few jerks as it starts up. I double checked the screws on the bottom of the trucks as well as the main screw holding it to the chassis (as suggested above) and all were snug.

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