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When I brake I hear a scrubbing noise and my brake pedal catches as if it hit something and I have to repedal to get the brakes to catch. This only seems to happen when I am below 10 mph. I am trying to determine if i have a caliper problem, abs problem, or master cylinder problem.
 

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More than likely you'll need to inspect fronts. Sounds like calipers themselves. Don't fool around with stuff like that. Safety first. Oh great, Now I sound like my boss.
 
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