My car runs but doesn't move

this morning when pulling away from a traffic light the car suddenly made a zing noise and rolled to a stop. it seems to have lost the connection between the transmission and differential. all gear work causing the zinging noise, like two gears rubbing against each other. it also makes a clicking noise when moved from reverse to park. when the transmission is in park with the engine running it makes no noise.
When one wheel is jacked up and turned by hand with the transmission in park there is a clicking noise from somewhere in the transmission / differential area.