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That doesn't sound like the gear slipping to me, it sounds like the stepper motor trying, and failing, to step. My i3 clone would do this when:
Assuming you're preheated, remove the filament from your extruder, cut about 5 cm off, and give it another go. Note that you may need to unclog your nozzle with a cold pull, but on my i3 it tended to clog at the extruder gear.
Another thing that can cause this is if the extruder motor overheats. Is the cold end fan running? Is the motor hot to the touch?
I was able to remove the filament, and I cut some off and reinserted it, but the same thing happened.
Is your nozzle clogged? I would remove your nozzle and see if you can extrude cold. If you can, there's a clog in your nozzle. If you can't then there's something upstream preventing filament from moving.
Take the nozzle out and see if you can feed the filament through then. That'll tell you whether it's a clogged nozzle (most likely) or stepper/bearing/driver issues (less likely).