It has a manual transmission that that is slipping when you accelerate. It also smells like the clutch might be burning. It goes into gear fine.

check AFT level and change if its brownish or has a brunt smell to it like a sweet burn smell.
it should be redish in color and not smelled burnt.

You do not say whether it is auto or manual, but I assume manual, and by the sounds of it the clutch is slipping due to wear.

There is a test you can do. Start the engine, put it in 3rd gear, apply the foot brake, and let the clutch out. The engine should promptly stall, and if not, you need a replacement clutch.
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Band is blown in your transmission or is going. Eventually you will shift into first and then be like your in neutral when the car looks for the next gear. Smell your transmission fluid it will look off colored or smell burned most cases

You need to have a look at your clutch. The burning smell is the clutch slipping.

Sounds like the clutch disk is worn out and slipping, that would cause the burning smell. Replace the clutch disk.

1) Check the brake pads all round. If a caliper is sticking (not retracting fully) then the pad will remain in contact with the disc rotor and gets very hot giving off burning smells. 2) If you have a manual transmission it could also be that your clutch is at the point of failing. A slipping clutch is indicated in gear the engine races irrespective of the the car accelerating along with a smell of burning.

Sounds like a slipping clutch or transmission depending if its a manual or an automatic geared car.
If its a manual with a slipping clutch it will slip worse when in a higher gear going up hill. It will sound like the car is reving higher the the car is moving. If it is the case the clutch assembly will require replacement which involves removal of the gearbox. If its an auto and does the same thing check the fluid level at the dipstick.Top up if low and rectify leaks, If its not low and the fluid smells burned or is brown you should take it to an automatic transmission specialist to have it checked out. If this is helpful Please Vote Jeff

Hi,
If the engine is revving but your not going forward then it sounds like your clutch is slipping if it is a manual, or the clutch packs are worn if it is an automatic transmission. Either way the clutch or transmission will need to be repaired or replaced. Hope this helps, let me know how you get on.

check breaks 

Change the auto transmission fluid and filter. Pay attention to the smell of the fluid. If it smells burnt, there is likely burned or worn clutches. You can compare the smell of the old fluid with the new fluid if you're a newbie. it also doesn't hurt to save a sample to share with an expert if you know one. Also pay close attention in the bottom of the pan for metal filings, fragments etc. A fine layer of black silt is usually normal. If the trans is burned out, there will be evidence in the pan. NEVER rev the engine to get an auto to go into gear, and avoid letting the transmission slip at all costs. Overhaul is a major job and very expensive. I don't know why they'd change wheel bearing on a slipping auto. Or why they couldn't diagnose it for you. Hope this helps.