2002 Toyota Camry Power Steering Failure and Battery Warnin

While driving tonight my power steering went out and at the same time the battery symbol warning light came on on the dash board. I immediately pulled over and checked under the hood. I have plenty of power steering fluid and the year old battery looks fine. The headlights and all other electrical components of the car are working fine. I then proceeded to drive 25 miles home and when I pulled in my driveway I noticed steam coming from under the hood. I opened the hood and it appears the radiator was overheating. However, the whole way home I was checking engine temperature gauge on the dash and it said the temperature was normal. I don't know how any of these problems are related but my power steering is still not working(very hard to turn the wheel) and the battery symbol warning light is still on. Any idea what is causing this?