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Towards the top of that output it says something about missing libraries, but I checked for those library names on my system and couldn't find them anywhere so not sure if I can help with that.
As far as the drive it looks like you might be using a 2.4 kernel without scsi emulation for your cd burner. I had to add a line like the following to my lilo.conf:
append="hdd=ide-scsi"
to use scsi emulation for my cd/rw drive. From what I remember you don't need to do this for 2.6 kernels however.
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