What would cause the wheels to sound like metal on metal if the brakes are fine?

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The car runs and sounds fine when first started. After a few minutes, it starts having a whistling type noise and a scrubbing king od noise that sounds like metal on metal. I had several people tell me it sounds like brakes but it makes the noise when brakes are not being applied. The repair shop says brakes are fine. Passenger side rear wheel is very hot after driving for a short distance and there is a burning smell.