I would also check the transmission before replacing the motor. After you remove the motor, turn the coupling on the transmission in both directions and watch for the agitator to move back and forth and that it spins in the other direction.
You can also run the motor after removing it, keeping the wiring harness plugged in. You will have to bypass lid switch.
Also have had a break grabbing that could cause a burning smell. A little dab of grease on the break housing just under the spring helps.