steering noise

When I am driving and take a turn I hear a noise that kinda sounds like something rubbing, I cant tell if it is coming from the front or the back. It is not my tires. And if I am not moving and I turn the wheel I dont get any noise. Could it be my power steering pump even tho it does not make noise when not moving?

ok so im pretty sure its coming from the back of the car. I greased my lower control arms and it is still doing it. It seems to only do it when going slow and turning sharp. What could it be?