Steering problem

I have a 1999 dodge ram 2500 4x4 5.9l engine p-up, with aprox 70,000 miles.
When I apply my brakes the steering jerks. It doesn't pull like its an alignment, but jerks either to the left or right.I changed the calipers and still seem to have this problem.I did notice on the passenger side front pads the inner pad was bare and almost cutting into the rotor and the outer pad was fine. Is it possible the rotor could be warped and causing this problem?But it is only when I brake.