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First, it might be helpful for you to understand how a starter works.
A starter is a big motor that has a small gear at the end of its drive shaft. When you turn the key to start the engine the small gear on the end of the shaft is thrust backwards so that in will mesh with the teeth that surround the edge of the flywheel. Once the engine starts and you release the key, the small gear is removed from the flywheel. (If the gear remained meshed with the flywheel it would be destroyed by the high speed of the engine.) The starter motor requires a lot of electric power to start (or amperage) In order to deliver high amperage to the starter you need very thick wiring. (Like the thickness of the cables on your battery) But because it is impractical to put extremely thick wires up in to the steering column to connect to your key switch, the car manufacturers use an adapter called a starter solenoid (also known as a relay or contacter) This lets them use very thin wire to turn on a switch that will connect the very thick wires used by the starter motor. Some manufacturers put the starter solenoid inside the starter itself (GM) some have it seperate on the fender next to the engine (Ford). I don't know what Toyota does yet as mine is new this year and have not had a need to investigate it.
The problem you are having sound like a solenoid within the starter the pushes the small gear into the flywheel. If the gear does not engage the flywheel you will hear a smooth motor hum but the engine does not turn. Your best bet is probably to replace the starter motor assembley.
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