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wow, no body ,year, or engine options stated, are you kidding?
we cant hear it, hand bends ear?
why not , open the hood, take a rubber hose to ear
move end about engine (avoiding fan and belts)
find the object that sings.
then post a photo. answers come fast.
Here are the common causes or rear end noises
Constant high pitched whine at all speeds: Pinion Bearings or Ring gear carrier bearings
Whine at steady speeds or whines on deceleration: Rear end gear set is worn and will need to be replaced.
Rumbling type of noises are caused by wheel bearings or a tire with a separated cord.
Sometimes when your altenator bearings are going bad they will make a whining noise, could also be power steering pump, try to see if you can isolate the noise to one or the other, is it louder on one side of the engine or the other side. That would help to narrow it down.
The A/C compressor constantly turns because the pulley is connected into the serpentine system. The whining noise is pretty indicative of a low charge in the A/C system. I would start by having your A/C pressure checked and charged if needed.
that whining noise is definately your power steering pump. the earlier models eg 2001-2003 just have noisy ones. so they say, if that noise become really excessive; its an early warning that its gonna fail. the newer pumps are much quiter, but i was quoted approx 1200+ CND for a new pump. I have a 2003 cooper, and the whining noise is loud. only once has the steering been really stiff, but i resolve that problem by restarting the vehicle. watch out tho, the power sttering could fail on you while your driving around a corner, and if you dont have both hands on the wheel, you'll go strait.