When going around corners the rear wheels or.

When going around corners the rear wheels or rearend makes a fairly loud whining noise. Does not do it when cold and no noise at all when going straight only around corners, left or right. There is a slight, and I mean slight clank when put in reverse but only after has been driven for at least thirty minutes. Just went back to work after being of all winter and now Im afraid to drive it. Hope you can shed some light, Thanks Scotty