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Squealing sound: Belt slipping
Chirping sound: Misalignment of an accessory drive pulley
Frayed belt edge: Misalignment of an accessory drive pulley
Polished belt edges: Belt slipping
Glazed belt grooves: Belt slipping
Fluid contamination: Oil, power steering, or coolant leak
Excessive cracking: Other than severe old age, defective tensioner
Whirring sound: defective bearing in tensioner pulley or idler pulley
Rhythmic noises occurring at engine speed: Delaminating belt backing, chunking of belt ridges, or foreign object embedded in belt groove
Grinding sound: damaged bearings in driven accessory
Belt coming off: Pulley misalignment, belt misalignment on pulley, defective tensioner, or bearing wear in tensioner, idler or driven accessories
Belt noise can be hard to isolate, as the sound may seem to be coming from an accessory drive, such as the alternator or air conditioning compressor. A noise that occurs only when the vehicle accelerates is likely to be a slipping belt, as is a noise that occurs only when the car is started cold. Chirping is caused when a pulley is misaligned, so that the belt ridges initially contact the sides of the sides of the grooves and then slide downward along the groove’s sides as they seat in the pulley.
Hard for a Serpentine belt to be out of alignment because it’s the only belt on the vehicle, it rides on smooth pulleys no more v shape pulleys. This is a Serpentine belt layout. And the op said it only happened whe turning the steering wheel so it’s not a bearing in the alternator or water pump.