So sometimes when I pull hard from 1st gear (from a rolling start, I never drop the clutch) I hear 1 or 2 loud clunking noises from the rear of the car. It sounds as if my rear tires just rolled over some rocks, and it kind of feels that way too. This seems to happen when my front tires (it's a FWD) lose traction in 1st gear. Has anyone else experienced this?

EDIT: Maybe it's better to describe it as a violent shudder that lasts 1-2 seconds, but it sounds/feels like it's coming from the rear wheels.