2001 Chrysler Concorde Car will not accelerate / Makes grin

2001 Chrysler Concorde LXI 3.2L v6 24v

Car will not accelerate / Makes grinding noise when put in park.

My wife and I were driving at approx 45 MPH when the car was no longer able to accelerate. We pulled over. I put the car in drive and drove around in a circle. Stopped, put the car in L and drove around in a circle, then 3, then drive. Then I put it in reverse and it was fine. So, we got back on the road and got to 60 MPH, then it lost acceleration/power again. I pulled over and put it in PARK, then heard this grinding noise that subsided as the RPMs went down. I tried putting it back in gear and the car would not move. At this point I noticed smoke coming from under the hood. I popped the hood and saw fluid spattered/burning/smoking on the manifold on the drivers side of the engine. The fluid was light brown in color. So. What gives? Transmission, CV joint?