Suppose for a moment that my car is in 3rd gear, climbing a relatively steep hill, traveling 15mph. You can imagine that my engine is struggling to stay alive, making all kinds rumblings, and on top of that, I hear a rattling like a large tin can coming from my car.
Sometimes I can hear it when I'm parked and idling, though not as strong. I poked around and took a few pictures of this, which is clearly the cause of the rattles: It's the outer sheath surrounding the exhaust pipe. If I move it just right, or press it against the pipe, the rattling stops.
I studied the Bentley manual for a moment, and this appears to be near the "front pipe with catalytic converter." But if the cat were loose, wouldn't I see lots of black smoke pouring from under the car?