OK, so lately my reverse has been acting up (93 VE 5-spd), when I go into reverse the car shakes and bucks like crazy, but today it did it REALLY REALLY bad and I couldn't get out of a parking spot...and also, the ABS light came on when it happened, and I got this naaaasty smell, like, wet gym socks, out of the hood/vents. When I turned off the car freaked out, something I coudln't pinpoint in the engine compartment continued making a very loud humming/vibrating that didn't turn off until (I'm assuming) sometime in the middle of the night when it caused the battery to die. This seems pretty serious any ideas?

I have had really bad experiences with the dealer in town, so I'd like to take it to a reputable shop instead, if it comes down to that, but I don't know how to choose. Suggestions there would be appreciated also!