1998 Ford Escort SE shuddering upon accelerating?

I have a 1998 Ford Escort SE with 214,000 miles on it. Occasionally, when I start the vehicle put it in drive and take off the vehicle will start to shudder when I accelerate the vehicle. The weird thing is when I take the vehicle out of drive into neutral and back into drive it stops and runs fine. Any clues? Fuel pump was just replaced so I know it's not that.

It makes me shudder to think that you drive a 1998 escort.