Cloths come out very wet and burning smell from wash
Whirlpool model #wtw4950xw1

Since it's been several days and nobody more experienced has offered an answer, I'll give you my opinion.

It sounds like the belt may be slipping which would cause a burning rubber smell and also would keep the washer from going into a spin cycle. You might try a load and when it is supposedly spinning, open the lid and see if it indeed is.

Replacing a belt on a washing machine is a pretty straightforward repair.

Hope this helps,
WallyH

I will agree with Wally, it sounds like it is not properly spinning, to get the water out of the clothes.

The reason for a "burning" smell is normally a bad or loose belt. And/or loading the washer with too many or too heavy clothes.

But yes, it sounds like the belt needs adjustment or replacement.