chirping sound

Hi,

I have a chirps like sound coming from it that is a little faint. It seems to happen while turning both left and right when we accelerate from a stop and seems to last at low speeds until about fifteen to twenty mph after turn and then stops. Sometimes when I drive straight I can hear it to but it is not all the time and does not last that long. I was hoping for some help to figure out what is making the sound and how to address it. Thanks for any help!

Ed