Power steering pumps begin to make a loud whirring noise when you turn the wheel. As long as you have fluid and the power steering is working there is no damage occurring. But either gets worse it is time to change the power steering pump.
As for the belt if it is serpentine style. (Long and makes many turns) then the belt is fine. If it is the V-belt style (old style) only on 2-3 pulleys max then just make sure it feels snug.
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