Maytag atlantis model mav65484ww will not spin or drain

[Militoni]

I have a maytag atlantis model mav65484ww.  I started a load in the morning before work on the normal cycle and 8 hours later I came home and it was still on the normal cycle and had not advanced.  I then just moved the dial a little and it went through its regular cycle.  When I took the towels out they were very wet. I tried the spin cycle again.  It would spin but not go into high spin.  Then I tried it later and tried to rinse and spin again and the tub would not spin at all and water would not drain and you could smell a burning smell.  We took washer apart and there was no clothing caught between the tubs or drain hose or pump.  Do you have any other suggestions?