I have had that happen before as well. As for getting the washer to just spin, there should be a setting that says "spin". If so, just turn the knob to the "spin" option and that should just take it through spinning again. Mine does that on occassion but not enough to worry about getting another washer YET!.
As for the clothes still being dirty or smelling like pee, perhaps the washer is too full. After watching me do laundry TONS of times, my 8 yr old decided she wanted to do it WITHOUT help. Well, I went to put the laundry in the dryer and noticed that it was VERY FULL. I didn't think anything about it until I started pulling clothes out and noticed some were still dirty. I pulled out half of them, rewashed and then repeated with the other half. So, make sure its not over full and if its not, I would have someone come out and look at it.