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if you jack up the rear axle and spin the tire do you hear the grinding noise? Have you located where the noise is coming from?
Can you duplicate the noise if you get someone to put it in gear and run it up to 10mph? The first step is to determine if you have a bad wheel bearing or a brake pad rotor issue..
If you remove the brake caliper and brake pads do you still hear the noise?
If you still hear the noise when the rotor is removed then it's most likely a bad wheel bearing.. Make sure the backing plate isn't hitting the rotor.