Q: when I turn on the heat I smell like burnt oil. and then the car starts to jerk on 2002 Ford Taurus

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head gasket, when I turn on the heater I get a smell like burn oil everytime I turn on the heater. And next is the car jerks? once in a while.
(1) Answer
This is certainly a strange problem to have, and I really would need to see this vehicle to figure out where the smell is coming from, and why the car begins to jerk, as these issues are not typically related to the heater.
Let me know what questions you have, and here is a link in case you prefer to have it diagnosed: