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I has the same thing happen to me, I thought I had run over something. The problem was that my belt was only a few weeks old so I think it was a bad belt. I have went through about 5 belts in about a year and a half but i've got it worked out now.
It's not that hard to change the belt but you do have to remove the power steering hose. I would have the old belt most of the way off, clamp the hose, remove it, slip the old belt off put the new belt on and replace the hose then put the new belt on.
Should be easy, I even had to do it in a parking lot once.
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