Start with checking the simple things:
1. Tire pressure, oil levels etc.
2. Check for uneven tire wear...run your hand over the surfaces of the tire for uneveness. Could be caused by out of balance tires.
3. Brake rotors/pads worn
4. Check rear wheel bearings
If you can, provide more info for us.
With the short description you gave, If I was to take a guess I would say you have a wheel bearing noise. Mazdas are very common for this problem.
Good Luck and I hope this helps a little.
Allen
swiftautorepairs.com
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