Ford Mondeo ABS

If Diagnostic Tool Gives Code For R/h Side Abs Sensor Is This N/s Or Offside And When It Says R/h Or L/h Does This Mean As Sat In Drivers...

Hi Ia M Getting A Slight Jerking At 50 Mph Like As If It Wants To Change Gear But Does Not. It Only Happens At 45-50 Mph ......i Have...