Frequent shaking, especially with dark residue int he ears and a foul odor, almost certainly means ear infection by bacteria (cocci or staph), fungus (yeast), or parasite (mites). Definately have it checked out by a vet but DO NOT clean it out yourself first. If you clean out the residue before the vet sees your dog, there won't be anything to make a definitive diagnosis on, or do an ear cytology with. Your vet will most likely show you how to clean the ears properly with the proper tools and solution, so that's your best bet!
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