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You may have humming noise coming from power steering pump or bad bearing on alternator. Use long screwdriver , place it on your ear with the hand held handle and place it on pump it will transfer the noise back to your ear and also check the same for alternator.
sounds like you have a problem with one of your lines on your power steering or one of its components. the grinding noise could also be one of your pulleys that have gone bad too. check your steering assemby gear box.