Shaking car

I was driving for about
an hour with no issues
and all of a sudden my
car was shuddering
and my vsc light began
blinking, and the
traction light as well as
check engine light
turned on. I drove it
another 50 yards or so
and it began to smell
like sulphur or burned
rubber maybe? I turned
the car off and turned it
back on. In park, it
doesn't shake, but when
I put it in drive it begins
to shudder again. Any
ideas of what it could
be?