Thank you for your question.
I can understand wanting to repair the washer yourself.
This is a 23 year old washer and sounds like it has served you well. It has doubled the average life span of the average washer.
The burning odor is probably the drive coupling between the motor and the transmission.
The grinding noise sounds like the transmission and it has caused the motor drive coupling to fail.
There are parts in the agitator you can replace but I do not think that is where the problem is. You never really know what all is bad until you take it apart, but it does not sound like a simple repair.
From my experience, my advice would be to replace the washer. I would hate to have you put a lot of money in this machine and still have an old machine.
The transmission part number is: 3360629R for $110.00 and the drive coupling part number is: 285753A for $20.00.
However the choice is up to you but you may need to have the machine taken apart to see what all you need.
If you have some mechanical ability and you want to try to replace this yourself please let be know on the thread link, and will be glad to help you further with instructions on how to access these parts.
If you do not feel confident repairing this problem yourself, then you can have it repaired at your home by a Sears technician. Here is a link for the website:
Sears Home Services
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