Anyone on here have any ideas about what could be causing the problems that are described below?

Whenever I take off, there's a bit of a jolt. I can also feel it when I'm coming to a stop at the very end of the stop.

Also, there is a "grinding" sound that comes from the the front part of the car...I kind of feel it might be the brake pads not releasing in time, but i don't know for sure. It's a deep grind that only lasts mometarily and is a different problem than the jolt described above.

The car has 56,000 miles.

Thanks for the feedback