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Try checking your drive coupling. It's usually a pair of plastic disks and a rubber bushing and is attached to the drive shaft on the motor. If it's the problem, it will probably be in pieces....

Acouple of days ago my washer (Kenmore, 8 years+) blew it's drive coupler. I replaced it, but now after it runs for a minute or so it starts to squeal and emit a burning rubber smell.