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The drum may need to be replaced inside of the washing machine. The washing machine is making a loud noise while spinning then especially if it is either a clanking or scratching sound then there is some type of foreign material that could of had have gone into your washer's filter inside the rubber seal or is simply spinning around inside of it's the drum.
This is several issues rolled into one. The clank noise is concerning and the smell could be the heating element for high wash temps. The other thing is the control module could be causing a lot of this. The water valves could be causing the fill issue and the clank could be the pulley on the drum. The bad thing is there are not a lot of parts for that machine as it was 13 years old. The control board is almost 300 dollars. Taking the time to trouble shoot it requires tools and patience . The service manual link is attached. Bosch WFMC3200UC Training Manual
By your description of the noise<it sounds as if the bearing in the "agitator"is defective or "wornout". Or at times anymetal object could some out of pockets and get lodged under the drum of the agitator.you can check this by taking a long flat object,such as a rule,and slide it around the inside of the the machine.
Need to know a little more info. Need to know if this noise starts when you first turn it on (during the fill up cycle), once the actual washer starts (wash cycle) or when it goes into spin cycle.
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