I checked the power steering fluid, and it was a little low so I topped it off. I drove it to school today (45 mile round trip) and it was still making the noise when I got home. I'm not sure how long it would take it to stop making the noise if, in fact that was the problem.
It only seems to make the noise when turning to the left, not the right. It seems to me it could be the brake pads. Any other thoughts though?