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On this model, the fuser assembley is mounted to the machine mounts, two of them inboard and outboard.
If the fuser gear is not cracked, this fuser is driven by the white small drive gear on the machine.
This rests close the drive gear. Sometimes you can hear a thumping noise which is coming from the gear skipping over the fuser gear.
This gear needs to be replaced a very involved service process.
Call Xerox for further repair if this is the case. Also behind this gear are many other gears that can cause this same problem. Very involved and time-extensive to repair even for a trained Xerox technition.
your description points to a fuser assembly problem which is right where you looked. I'm not sure what that plastic piece is from. if it is black, it probably came from the fuser. That is a replaceable part, but I'm not sure you can still purchase them from Xerox.
On the XD 100 if it is jamming when it is just entering the fuser, check the gear on the end of the heat roll.
Those frequently crack and or flat out break off.
That gear is easily replaced and inexpensive. If you require information where to purchase one, let me know via a message here.
I checked and you can purchase that gear for $14 or less.