2002 Hyundai Santa Fe Power Steering Leak

Hello
As for the noise I have attached what we show would be causing the rattling. It is possible it could be even a bearing. Since you said it was leaking the first thought is the low fluid.

You also must find out where it is leaking. Maybe you just need to tighten the fittings. Or is it leaking out of the pump. I suggest you wash this are good. Then check to make sure the lines are tight, the belt is in good condition and the correct tension, nothing is loose on it and it has plenty of fluid.

Then see if it is still making a noise and leaking. Then take it from there.

Let us know if this doesn't fix it and we will see what else we need to do.