Working on a garage door opener with the power connected is a very dangerious undertaking, unplug it first.
Pull the plug, and release the door. Release the tension on the chain and you should be able to straighten the chain. Re-install the chain and re-tension it. If the sprocket is to wore out you will need to replace that or the door opener. Plug in the power and connect the door. Test it you should be all set.
SOURCE: Garage door opener chain out of sync with door
There are two white screws on the sides that adjust the limits. Adjust the "down" screw less. You should have to turn the screw 4 full turns for eight inches. After you make this adjustment, test it without the door being hooked up to prevent damage to the door or opener if it tries to close too far.
SOURCE: how do you shorten the chain on a garage door
find the link and remove as much as needed replace the link.
SOURCE: Liftmaster 1/2 HP Garage Door opener won't open or Close
The shaft on these garage door motors are not direct drive systems. You'll have to open up the box to see what the actual problem is. I have had stuff like this happen where a gear just slipped out of place.
http://www.aaadooropeners.com/?gclid=CLH3wt628p8CFVZS2goduwSLYQ
Here is a link for a parts supplier. I don't know your model but it looks like most of the Liftmaster worm screw gears and drive gears are plastic so it's possible that one of them has cracked.
SOURCE: Stanley garage door opener chain screw adjustment
THE ADJUSTMENT IS SUPPOSED TO HAVE A 2ND NUT THE TWO TIGHTEN AGAINST EACH OTHER AND ACT LIKE A LOCK
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