to be honest, I think you have multiple brake problems.
if the brakes are shaking the van, you've warped the iron for some reason; sticky caliper, restricted hose, faulty master cylinder, etc..
I think something is up with the rear brakes, and they're not doing their fair share of the work; self adjusters not working, broken hardware (if it's rear disc, look again at the calipers and hoses)...
plus, lately I've seen an unGodly amount of rotors rusting, flaking, and shaling apart (pull them off the hub and look at the INSIDE), which could also cause the vibration/pulsation/shaking...
Dude, I hate to say it, but you're looking to spend some money on this beast...