Personally, I'd disconnect the battery and unbolt the starter (leaving wires connected), and see if I could put eyes on any damage. It's a pretty easy job. Look in the hole were the starter was and check for damage to the gear at that spot.
If you don't see any damage, then I would test the starter. Basically, you just need make sure the starter terminals are well clear of the frame, or any grounded metal, connect the battery and turn the key to start. When you do this, the starter will spin up and twist around a little bit, so I say again, make sure the terminals cannot touch a ground. Wrap it in a towel or something if you have to.
If you have never had this noise before now, then I'm leaning towards a failed starter. If you have intermittently had this problem for a long time, then I have to agree with shucker1.
Actually, this is just an afterthought, but I have seen this problem twice in my years due to the bolts backing out of the starter, causing it not to engage the ring gear fully/properly. I'd probably put a wrench on those bolts before I do anything else, just to make sure.