Whirring sound from engine and dificulty steering

I have a 97 Toyota Tacoma 3.4L V6. just recently I have been experiencing a whirring noise coming from my engine. At first it only happened when accelerating, but now it does it at idle. The whirring also increases when I turn my wheels while accelerating. This happens the most at cold temperatures and turning is often difficult at first. Power steering fluid level is good. After driving for awhile the noise will often quite down. Any ideas what is causing the problem?

 

Sounds like power steering on its way out.

 

What you're describing is pretty common when you have a dirty screen at the bottom of your PS res. Drain the fluid, clean and dry your screen and see if that helps.