My 99 Jeep had the same issue, eventually it had No spark, I replaced the engine coil, it didn't work, had to replace ingnition sensor.
I had that problem with my 98 Jeep Cherokee Sport, they ckd all kinds of things and finally replaced the fuel pump and then it was fine.
A 2000 Jeep Cherokee would have rear drum brakes.
Check your positive battery cablefor corrosion or a loose connection.If that's ok then you have a bad starter solenoid.
My answer 1998. My cherokee sport had 275000 miles on it original motor and drive train. Would still be on the road today had an idiot not rearended it and caused $4000 damage.
Now would be a good time to do a tuneup.
31x10.50
about 3 cans
ign spark control modual see if when it dosnt run if you have spark if no spark start there if it has spark check the redistance on injector.
Sounds like you belt came off.
AnswerIts most likely to be the Crank Position Sensor (CPS) failing.
Tennis
Out of time.