1997 Ford Explorer

When I am going down the road there is a noise coming from the front drivers side. It sounds like it's grinding when it goes a full rotation. Like when it goes around and gets to a certain spot it grinds. The steering wheel has a slight vibration. When you turn to the left the grinding still happens and gets a little louder and when you turn to the right it just about stops. When you go around turns the steering gets stiff too.