A wheel slightly out of balance shakes an entire car
How a small offset mass becomes a force that grows with the square of speed.
A wheel only slightly out of balance shakes the whole car because the small offset mass spinning around with the wheel produces an outward pull that grows very quickly as speed increases, so a wobble too faint to notice while crawling through traffic becomes a violent shudder felt through the whole steering wheel at motorway speed.
What is actually happening
A wheel that is even slightly heavier on one side than the other has its centre of mass sitting a small distance away from the axle it spins around, and every time that heavy side swings around with the wheel, it has to be pulled continually inward, toward the axle, to keep travelling in a circle rather than flying off in a straight line. That inward pull has an equal and opposite reaction pushing outward on the axle itself, and because the heavy side is on a different side of the wheel at every instant as it spins, that outward push constantly changes direction too, tugging the axle first one way and then another in a rapid, repeating shake rather than a steady pull in one direction. The car feels that shake through the suspension and the steering, and because the offset mass is usually small, no more than a few grams sitting a little further from the axle than the rest of the wheel, the shake at low speed is easy to miss entirely. A wheel that has been repaired, a new tyre fitted or a puncture patched, is a common source of exactly this kind of small offset, since a patch, a valve, or an unevenly seated tyre bead all add a little extra weight to one point on the rim without the driver ever intending it.
The washing-machine comparison
A washing machine mid spin with the laundry bunched unevenly to one side shows exactly this same shake, scaled up to something impossible to ignore. At a slow spin the drum wobbles gently, barely noticeable through the casing, but as the spin speed climbs toward its fastest setting the same uneven bundle of clothes can shake the entire machine hard enough to walk it visibly across the floor, even though nothing about the imbalance itself has changed, only the speed at which it is being swung around. A car wheel with a small offset weight is the same unbalanced drum, spinning far faster and transmitting its shake through the suspension rather than a washing machine's feet, but following exactly the same rule about how the shake grows. Anyone who has stood near a washing machine as it ramps up through its spin cycle has already felt the shake grow far faster than the noise of the motor speeding up alone would suggest, which is exactly the square-of-speed relationship showing itself well before anyone puts a number to it.
The number that matters here
The outward push from an offset mass grows with the square of rotation speed, so doubling how fast the wheel spins does not double the shake, it roughly quadruples it, which is exactly why a car with a mildly out-of-balance wheel can feel almost perfectly smooth around town and develop a pronounced shudder through the steering wheel once it reaches motorway speed, even though the wheel itself is no more out of balance than it was at the slower speed. A driver who notices a shake only past a certain speed on the motorway, and nowhere below it, is really noticing the exact point where that squared relationship finally pushes an unremarkable little offset over the threshold of being felt at all.
Why this matters in practice
Because the force grows so quickly with speed, correcting a wheel's balance only needs a small counterweight fixed to the rim opposite the heavy spot, cancelling the offset at its source rather than trying to damp out a shake that would otherwise keep growing worse the faster the car goes. A wheel balanced correctly at rest stays smooth at any speed the car can reach, because the correction scales with the same square-of-speed relationship as the problem it is cancelling, and a shake that appears only above a certain speed, rather than growing gradually from the moment the wheel starts turning, is one of the clearest signs an imbalance is the cause rather than something else entirely.