You need to have a shop listen to this before further damage occurs as it could be something simple like one of the belt driven components and you can find a shop near you here http://repairpal.com/lexus-repair-in-cleveland-ohio
RepairPal Certified shops can diagnose and repair your 2001 Lexus RX300. They provide transparent pricing with a minimum 12-month or 12,000-mile warranty on repairs and services.