The power steering pump and the AC compressor both draw power from the serpentine belt. You only have symptoms when turning the car or when operating AC. The sound appears to be very much like a slipping belt. We don't know the make, model, engine, age, or mileage, but a reasonable guess is that the tensioner spring is worn or the tensioner pulley bearing is going. Could be simply needing a serp belt, but I'd recommend getting a new idler pulley assembly ($25 or so for most autos) and install it. If you want to replace the serp belt also, this is a good tim to do it. You tube is filled with videos on how to replace serp belt, replace tensioner. Make good notes before you begin, to be sure you route the belt correctly at reassembly.
old wrench spinner