Weird clutch
 

Just got a 2001 f150. The truck has 253000 miles on the 4.2 six cylinder. I have driven manual transmissions most all my life. The clutch in this truck is so weird I believe something is wrong with it. When I go to take off most of the time the truck will jump and shake and sometimes die on me. I can not figure it out to save my life. I can press the clutch in to the floor and it's a very stiff pedal. I barely have to start letting off the clutch and it will grab and start to pull. It jumps way to much and I can get the combination of gas to clutch right in order to have a smooth take off. I don't know if the truck has a new clutch in it and just needs to be broke in or if maybe something is wrong. Any insight into this would help me out.