Ignition goes to ACC and to ON but won't start? I was going to say steering lock but if that fails I'm pretty sure you can't even get to the ON mode.
The noise you hear is probably the fuel pump priming, this is normal. However is sounds like the starter solenoid or relay is bad.
When you checked the battery voltage what was it? Remember that for a lead acid battery anything at or below 12V is considered dead. If you have room you can try jumper cables or a battery charger.
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