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Brakes loses power and a grinding noise

I have a 98 2-door Tahoe 4x4. When I go to stop either to turn or place into park the brakes seem to go down to the floor and I have to apply them earlier than usual because they don't do a good job slowing or stopping me and then I hear a grinding noise not a brake pad grinding noise but like a motor grinding noise and then it seems to do a little jerking while making the noise while I'm applying the brake. Not even sure where to start.
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