2003 Honda CRV Loud vibrating/grinding when accelerating ON

Noises problem
2003 Honda CRV 4 cyl All Wheel Drive Automatic 75K miles

Only after a complete stop and my car is on any kind of incline, when I accelerate I hear a loud grinding/vibrating noise. It happens when going forward or to the right, not when turning left UNLESS incline is steep. If I'm going downhill or at a decline there is NO noise regardless of direction. The noise stops after a few seconds and never returns while driving. It "seems" to be underneath my foot pedal. If I accelerate very slowly I can sometimes keep it from happening. When the hill is really steep, no matter what, there is a noise. Thanks so much for your advice.