2002 3.5 problem with steering???

When I put the car in reverse and with my foot still on the brake. I turn the steering wheel usually to the right. I hear and feel this crunching in the steering wheel. I know my power steering pump is starting to go its starting to whine but this has been doing that since before I noticed the PSP staarting to go. I'm wondering if its the pump, Rack and pinion, ball joints, ti rods, cv joints or what any ideas would be appreciated.

When I put the car in reverse and with my foot still on the brake. I turn the steering wheel usually to the right. I hear and feel this crunching in the steering wheel. I know my power steering pump is starting to go its starting to whine but this has been doing that since before I noticed the PSP staarting to go. I'm wondering if its the pump, Rack and pinion, ball joints, ti rods, cv joints or what any ideas would be appreciated.

Could be this:

http://im1.shutterfly.com/media/47a0dd32b3127ccef9cfafd1cb4700000030O08IZtXLZszag9 vPhI/cC/f%3D0/ps%3D50/r%3D0/rx%3D720/ry%3D480/

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