steering problem?

[jbxblitz]

ok so i have this really really wierd situation with my car. i can't think of any possibilities to why im having this problem. Every time i turn right at 40 miles per hour my car makes this rubbing noise. the wheels are not rubbing on anything and when i turn really hard, at stop my car continually makes the vibrating noise. could it be the power steering pump? or the steering rack? or the rack and pinion? I looked under the car and saw that there was a tear in the boot that covers some of the tie rods. But yea. any suggestions. Should I flush out my power steering fluid? Change my Bushings? What can it be? i feel like a puppet in this video.
http://www.youtube.com/watch?v=l_8yPap-k_s

[jbxblitz]

deng. this must be a really rare problem huh.

[bimbim]

start by changing the power steering fluid, and keep looking under the car and see if anything may be rubbing, tires maybe?