Grinding noise
 

https://video-lax3-2.xx.fbcdn.net/v/...=5C06B883&dl=1

The above noise happens most when the car is cold. At cold, it happens when at idle, but once warm it happens on every take off from zero (first and second gear). Once the car is going it stops making the noise even between gear shifts. I changed oils 8k miles ago (transmission, diff) and engine oil 2k miles ago. I'm past the warranty as I'm at 67k miles so I can't just take it to dealer. Please help.