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Your washer most likely has a broken drive coupling. If broken the washer will fill with water and drain, but the motor spins without driving the transmission (no agitate or spin). The part is common to all whirlpool washers made in the last 20 years and is readily available at all major appliance part stores. It is possible to change this part yourself but much less hassle to get it changed by a pro
If the motor is running but no agitation or spin is happening, then most likely the coupling between motor and gearbox has gone- look for black sooty deposits under your washer as proof. There may also be one or more pieces of white plastic. This coupling usually goes if the washer is overloaded regularly.
Ok can you take the front panel of the washer off easily?
If you can look for the motor pump assembly. Start the washer with no load, turn the water level down to the small and fill with water when it goes into agitation does it make the noise? if not turn timer to spin and see if motor makes the noise.
One other thought, maybe the smell is coming from the dryer?
Let me know. I wont be on line again until Friday Sorry