What do you think the problem is?

What is your question?

The esp light comes on while im driving.The car jerks and does not go over 30mph.It happens every 2-3 days.I have to stop the car turn it off and then turn it back on then it goes back to normal.I also been hearing a whining noise from the left driver side wheel.That only happens when going over 40-50.But that doesnt happen all the time.Currently has 53,000 miles.