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If the belt is slipping it can sometimes screech, or it might be the idler pulley needs lubrication. Take is all apart, clean and lubricate all the moving parts, drum slides and rollers.
The burning rubber smell is coming from the belt which goes around the drum and is driven by the motor. The belt has probably stretched and is now slipping. It will need to be replaced.
Remove the top and the front panel to remove the drum after you purchase a belt and teh idler pulley that Sears selles for your dryer. The pulley's bearing has froze up causing the belt to burn up and falling off
if you can turn the drum by hand it may be the motor start capacitor.fitted just above the motor if you cant turn the drum one of the drum seals will have jammed the drum the belt will have snapped as well.
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