My ford explorer 2002 4x4 has heavy vibration while driving in all gears and noise begins upon acceleration

could be bad bearings, bad axle joint, broken mounts, loose suspension parts, is engine running smoothly? is CEl on?

Do you have a check engine light?

Check all the driveaxles/driveshaft and U-Joints if its loose, engine and tranny mounts,check the transmission and transfer case fluid level and condition, if it continues have the transmission pressure tested to find out more what's going on-