Bump when sshifting to reverse

Whenever i put my car in reverse,my car bumps. It feels like the engine is going to fall out. It only happens when putting it in reverse though. It's scares the crap out of me. It sound like a loud bang too. Someone please help

auto or manual trans.?

Make, Modle, Year, Manual or Auto, When did it start, excetera. a move to enginerring/technial may yeild better results.