1998 Ford Windstar Rubber on rubber

Hello.

My name is Saoirse and my question is about a disconcerting noise my van is making. When the vehicle is stationary, turning the wheels back and forth makes no sound. However, once the vehicle gets moving turning the wheels to take a corner or curve or park makes a sound that can only be compared to wet rubber rubbing against wet rubber. (This is the most accurate description of the sound: several other people who have heard it describe it in the same way).

It ONLY happens when the wheel is turned. I'm wondering what it could be. My father told me something about a cylinder? Then, my uncle told me very confidently that it was a cremoliaire (I apologize for the french. I'm from Quebec).

Could you help me?

Thank you.

Saoirse