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It sounds like a wheel bearing is going bad. They are easy to change. If you have a place to jack the vehicle up. Try spinning the front wheels. You should hear a scraping noise as the wheel turns.Also replace both sides at the same time,as the otherside is not far behind.
There are many things the grinding noise can be. I would start with the breaks though as that sounds like the most likely culprit. If they are grinding, odds are you have ruined your rotors and/or drums. This means that you are looking at about $50-$70 in new parts per wheel (Total of $200 to $280) to replace, assumming only the pads and rotors/drums needs to be replaced.
Please note that breaks can be a good DIY project, but this takes an intermediate skill level with some expereince. Some vehicles are easier than others. Drum style breaks can be especially tricky as they relie on a system of springs that can be challenging to work with. There is also a hydrulic system that can have issues. If you see break fluid when you take off the wheels and drums, you have much larger issues and I would recommend getting in touch with someone more qualified.
You could have a failed wheel bearing. Jack the rear up with the trans in neutral (chock the front wheels please) and try to spin the tire. it should spin fairly easy. If you feel grinding or the wheel is difficult to spin then I would say it is the wheel bearing.
i don't think it is the pump. The pump would generally make a noise all the time because the motor's belt is what powers your power steering pump. Sometimes you will hear it bog down the motor when it is being turned all the way to one side or the other but that sould be about it. The grinding you described sounds like a rack and pinion problem and not anything to do with the pump itself. I hope im wrong because rack and pinion fixes are much more expensive and time comsuming to repair
if you feel it in steering wheel it could be your front axels. jack up the front end of your vehicle and turn the steering wheel to which ever way you hear it most, roll the wheel with your hand and see if you hear any noise firstname.lastname@example.org
Mechanic replaced the rack and pinon that was leaking-that was the noise, air getting into the hose. The engine was a seperate problem and the IMP?? was replaced. The part was cheeper than the labor cost for this one!!