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Have you checked the level of the power steering fluid if it is low it can cause a noise similar to what you described. The power steering pump could be starting to fail and making the noise. I would suggest checking the power steering fluid level and if low, they make some fluid that has power steering fluid conditioner, supposed to help extend the life of the power steering pump, if it is low you need to follow the lines from the pump and see if you can find a leak anywhere. also I would take notice of the color of the power steering fluid, if not too much trouble maybe take a picture of the fluid and upload it here, the fluid can break down and need to be replaced.
If you have been loosing fluid for some time, and running the car with low fluid in the power steering pump, then the pump is most likely worn and causing your noise. Do you know where your leak is? You might need just a power steering hose, but no matter what, your power steering pump is the most likely cause of your noise!
Problems associated with low power steering fluid… Hard Vehicle Steering A low power steering fluid level can often times cause a vehicle's steering to become hard and labored. Adequate amounts of power steering fluid are necessary to enable a vehicle's power steering system to function and operate at optimum levels. A lack of power steering fluid in a vehicle's power steering system reduces the amount of hydraulic fluid pressure necessary to efficiently operating the various parts of the entire power steering system. Power steering fluid supplies the fluid force needed to operate the power steering gears and to enable power steering gearbox operation. Low power steering fluid levels reduce this hydraulic pressure, which commonly results in hard vehicle steering. Pump Noise It is very common for a low power steering fluid level to cause significant power steering pump noise. An adequate amount of power steering fluid is required to ensure the proper function and longevity of a power steering pump unit, which is a belt-driven pump responsible for housing and circulating power steering pump fluid. A low level of power steering fluid results in increased power steering pump friction, heat, and wear, all of which can significantly reduce the operational life of the power steering pump while at the same time cause excessive power steering pump noise. Fluid Boiling
Many times a low power steering fluid level can result in excessive heating of power steering fluid, a condition that can seriously degrade the fluid and cause it to boil. A low power steering fluid level results in less available fluid to both lubricate and cool a power steering pump unit. A lack of power steering pump lubrication and cooling leads to excessive heat being generated within the power steering pump unit itself, a condition that translates into the available level of power steering fluid becoming super-heated and degraded. When this happens it is common for the power steering fluid to boil and lose all of its lubricating and heat-reducing capabilities.
The power steering gearbox is a set of gears within a vehicle's power steering system designed to facilitate movement of a vehicle's front wheels. The power steering gearbox is connected to the power steering pump by hydraulic fluid lines that deliver a constant supply of power steering fluid to the power steering gearbox. A low power steering fluid level, especially a chronic and severe low power steering fluid level, can lead to increased friction and wear within the power steering gearbox assembly, a condition that can significantly shorten the operational life of the power steering gearbox and negatively affect its operation
To find out witch it is,pump or rack and pinion,break loose the presure line on the power steering pump with a wench.Start the car and turn the steering wheel back and forth,you may need to loosen the nut on the power steering hose two or three turns to get the fluid to shoot out.It should come out pretty forceful.If it doesn`t,then replace the pump.If it does come out really powerful,replace the rack and pinion.