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PlayStation2 Slimline SCHP-70012 grinding noise

Greetings! I am trying to fix my old PS2 and today I started getting this grinding noise...

One day I tried to start it up and the disc wouldn't spin. Turns out to be a bad laser not detecting the disc...so I put a new laser in it fixed that, but now when I put the disc in the laser want to keep going once it reaches the center, making an awful noise. It does this for about 3-5 seconds, and then struggles to start reading the disc. Once it recognizes the disc, however, (if it even does) it continues to work just fine.
In my research it seems so many people have had this problem and no one knows how to fix it.

And no, there is no little white plastic gear, so please stop suggesting that.
 
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