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If the smell is like burning or heated rubber, then it could mean the belt is rubbing against one of the pulleys that it's supposed to be powering. That probably means that particular item isn't getting powered. For example, if your alternator seizes up, your battery won't charge, and the fact that it's stuck could cause the belt to heat up near it, causing the bad smell. If that's the case, then the belt may be wearing slick, in which case it'll need to be replaced as well.

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Q: Can the serpentine belt smell bad if there is something wrong with it?
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