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2005 Chrysler Town and Country Whining Noise

I have a 2005 Town and Country with 226K miles on it. Several months ago, I noticed when coming off the interstate and turning that the steering made a really loud whining noise. It would go away on it's own after driving at slower speeds for a few minutes. I thought it was the power steering pump. Fluid level was fine. If the van was driven around town, it would make no noise, only after coming off the interstate - from highway speeds. Now it seems to be getting worse - it makes the noise when accelerating and turning - again only after being driven at higher speeds. If you start it up and just go around town you won't hear a peep out of it. The steering is fine and other than the noise the van is perfect. My husband decided after looking at the pump that he does not want to attempt changing it himself so she's going to the dealer tomorrow - which I'm dreading. Any ideas? The service guy over the phone said maybe just a pulley going bad?
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http://www.youtube.com/watch?v=_QjBLYltLYY
Easy stuff! Once you know