Amana washer makes a load noise and smells like burnt clothes.

So our Amana washer is making some nasty noise when the spin cycle comes on. Also when it first initially started doing it my wife said that it smelled like burnt clothes.
Here is the URL for the video I took of it that I uploaded to YouTube since I couldn’t upload it onto the forum.
Thanks

http://www.youtube.com/watch?v=F6PnMZIUIXo