Why is my car making a high pitched whining sound

When the clutch is engaged and I'm not moving? The clutch pedal feels suddenly loose and it smells. On my way home from work this afternoon my clutch began making a high pitched sound when the clutch pedal was engaged. I realized at the same time that the pedal was loose and felt different, strange. I also realized that it had a burning engine smell when I got out of the car. I drove it again to run a few errands and everytime I drove it the same issues occured. The sound is only there when the clutch pedal is engaged and the car is not in gear or not moving. When I am driving and my foot is off of the clutch pedal it is fine or when I have it in neutral and I'm coasting it is fine.

Any advice or suggestions are welcome. Thank you in advance :-) Danielle