From vague memory of science class, I suspect it has something to do with resonance of the spring/damper system further enhanced by the extra loads going through the wheel/ground during braking.
Recsonance being the tendency of the system to oscillate at a greater amplitude at some frequencies than at others.
Similary, on the road you may notice that on tight uphill bends the road is corrugated on the inside where the inside driving wheel creates the same effect due to acceleration out of the bend and up the hill.
This even occurs to a smaller degree in a constant state system, constant state being no acceleration or braking. Train tracks develop these corrugations over time.
My text books were discarded a long time ago, so I can’t offer any further explanation.