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If the starter motor is spinning, or trying to turn, but is not cranking the engine then it is definitely a fault in the starter, assuming the battery is OK of course.
It may be a worn out starter, or it may just be dirt. The best thing is to remove the starter and have a look.
There are two big bolts holding it. The bottem one is easy, but the top often causes problems. Most people swear by sockets with long extensions and swivels. My method is to use a ring spanner put on backwards, ie so that the handle is angled clear of the firewall. Once you have started it and put on some lubricant it generally comes undone quite easily.
You can test a starter direct on a battery with some heavy jump leads. Clip one lead onto the body, for earth, and the other on the big terminal that you disconnected to remove. Use a heavy screwdriver to short between that terminal and the other big terminal. It is not used, but has a bit of HD braid going to it.
This will bypass the solenoid. If the motor works it will kick and jump all over the place. If OK, connect to the normal terminal and try a smaller lead to the solenoid terminal. If this fails to activate the starter, then either the solenoid is faulty, or the engagement mechanism is sticking. You can unscrew the solenoid and inspect, and generally clean all the parts.
I don't think it is worth doing any more, like replacing brushes etc. Just get another secondhand one. They will test it for you as I described at the yard.
Another possibility is worn pinion teeth on the starter, or a worn cogged ring on the flywheel. You can inspect the flywheel once the starter is off.
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