Yep, Keith S is correct...it sounds like an outer CV joint is going bad. A quick check underneath, behind the wheel will probably show a cracked or torn rubber boot on the outer CV joint You may be able to clean out the CV joint, repack it with grease and install a new boot. They even make a two piece boot so you don't have to remove the axle, however I don't they last as long. Rebuilding the CV Joints is a very messy job, because the boot is filled with grease, and you have to clean out the old grease and repack the boot with fresh grease.
If the CV joint is too far gone, the best bet, and the cleanest thing to do is just replace the whole half-shaft. That way you get a new axle with both the inner an outer CV Joints rebuilt. and you don't have to get covered with grease :grin:
...Rich