Sounds to me like its the power steering pump whirring on full lock to be honest, for a wheel to touch any belts (timing or auxillary) its have to be at a 90 degree angle and go through the chassis first!
If its a whirring grinding noise i bet its the p/steering pump. Check your power steering fluid first. (the black reservoir next to the battery in case you werent sure).
If the fluids ok it may be a buggered pump.
Ask a local mechanic to confirm it for you
