1995 Ford Escort starter/clutch

Car starts when ignition is turned to on and clutch is fully depressed. I don't need to turn the key to the 'start' position. While driving, if the clutch is fully depressed it grinds. I can switch gears fine, just as long as I don't completely push down on the pedal, In which case, I can still shift gears but I hear the grinding noise.