Frigidaire Gallery Dryer will not rotate (only belt will turn manually)

My Dryer stopped working today. I put in a load of laundry, and heard a clunking noise. I saw a piece of a bra stuck near the door, up in the crease of the dryer barrel. I pulled it out, and since then, it will not rotate. When I press start, all I hear is a buzzing noise for a few seconds, smell burning, and it stops. I opened the top and small back panel. I can manually turn the belt through the back panel by the motor, which only slides the belt along the barrel (the barrel will not turn with it). By hand, the dryer itself will not turn, it remains stuck in the same spot. I have visually tried to inspect for anything along the exterior of the barrel that may be impeding its path, but from the 2 panels I have removed I cannot see anything of the such.

Please advise if anyone has any ideas.

Thank you.