Sometimes when we try to crank the car, it will.

Sometimes when we try to crank the car, it will give a clicking noise and a whining noise like the starter is engaging but not connecting. Then there are times when the car cranks just fine and still makes the engaging sound, it also whines for second after cutting it off. Brand new battery and great connections. Took it to the Hyundai shop and they said they didn't know what the problem was, it didn't do it with them. Is it the starter going out or what?