An exhaust joint has opened up when(by the sound of it) the exhaust pipe also got rammed. Probably the pipes have buckled a bit, forcing open one of the clamped joints along the pipe somehwere. May need one or more sections replacing, as tightening the joint will hardly ever work with such damage. This needs doing asap, as the exhaust gases are more dangerous than they smell!
It`s probably the exhaust doughnut between the exhaust pipe and the exhaust manifold its a gasket that can move around and be damaged easly
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