Vibration/burning smell/clicking?

I just bought the vehicle listed above 3.0 inline 6. It was running good when I bought it, but I took it to inspection and found out I need new brake rotors and pads before it’s considered safe to drive. When I start it up it idles almost low and high of sorts. No changes in RPMs though. When it’s idling there’s also an almost rubber burning smell as well as quite a large vibration. When I’m driving if I give it a quarter throttle it starts to vibrate as well but less so when I put my foot all the way down. The engine also sounds as if the belt is clicking or something is clicking. I know some stuff about cars, but this is starting to make me wonder what’s going on, it just got a belt replacement as well. Included is a video of the engine/clicking.