Help me out... Weird squeal/whining sound from front end. Video Inside.

I hope this is the right thread for this.

Starts at about 15 seconds, I have no idea how to diagnose this. the whining stops when I tap my breaks, but immediately returns after I take my foot off the breaks. So I'm going to assume its a break problem but I am not sure where to start. The sound is loud, the video doesn't quite capture the audio very well. I'm also going to assume this is whats causing my truck to jerk left when I brake.

The Tacoma is a 2007 single cab base model 4 cylinder.

 

I'd also guess it's a brake issue. You may have a caliper that is causing a pad to drag and vibrate. Might even be a wear indicator although those are usually a squeal.