** I can detect a burning smell. I'm suspecting that the motor is gone. **
Can you tell where the smell is coming from?
If from the motor windings it will likely need to be replaced. Some models of that washer design (direct drive) had a problem where the speed selector switch on the console panel or timer would energize 2 motor windings at one and fry the motor. If this is the cause, make sure you replace the speed switch at the same time or the new motor might get toasted too.
You could also check the molex connector plug at the motor. Some of the terminals can get loose from vibration and cause arcing and burning.
BTW. Roper appliances are made by Whirlpool and should be basically the same (except maybe for less options/cycles, shorter warranty, etc.