Check for leak in power steering hose by taking cap off the power steering resevoir and than starting car, wait 1 min, turn wheel all the way left and than all the way right. do this about 5-8 times slowly over 3 min or so. turn car off, than observe fluid in resevoir. if you see lots of bubbles after 30 seconds or so, you have a leaky hose. air in the system makes the steering pump groan and moan and vibrate. if the pump is not bad, than change the hose and clamp.
just fixed mine yesterday. also buy a quart of 11s pentosin power steering fluid (green)...
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no no no and no...do not use brake fluid in the steering, this will eat away the seals and blow the system no way should brake fluid be used, you use auto transmission fluid or correct stearing fluid normally dexron2 but no brake fluid...hope this helps
VW engines intend to do this, even if you pull up at a set of traffic lights it will nearly cut out or go into high rev's. i have an a3 & once driving down the road @ about 50kpm, I lost power stearing for 1-2 seconds, stearing wheel went stiff. Audi are a good drive but needs lots of tlc. One other thing is fuel pump could be acting up a bit.
You may have to do some testing...if it is coming from the belts, start disconnecting them, don't drive the car since you will loose the power steering, but see if the noise still exists. Then if it does, is it coming from around the timing belt area, which brings me to my next question, has the timing belt been changed? Even if it isn't the area of noise; it needs to be done, and the water pump has to be replaced at the same time...location of the grinding noise is important in order to diagnose properly.