Loose Rattling and Grinding Sound?

I drive a 2002 Ford Explorer SportTrac and about two days ago all of a sudden I started hearing strange noises coming from underneath the truck.

First, every time I hit a rough part of the road or a bump I can hear a metallic rattling sound like something was loose and shaking around.
The next issue is sometimes I feel and hear a pulsating grinding coming from the wheels that gets louder and stronger when I brake, and I can feel it in the pedal. It happens even when I am not applying the brake but it is less intense. It also gets louder when I turn the steering wheel.

I know both problems are related because they started happening at the same time and I'm thinking it could be a brake problem but I'm not sure. Can anyone help me figure out what the deal is?

Read more: Loose Rattling and Grinding Sound?