Dana 35 I'm assuming. I'd crack it open, drain the gear oil and take a look at the ring and pinion gears. It sounds like you may have broken a tooth. I had a couple of broken teeth on one of mine and it caused a whine and some vibrations. You'll want to set the axle on jack stands so you can turn the tires and check all the teeth, those in the back, especially on the pinion, will be hard to see, but you'll probably know from the gear fluid if you broke a tooth. Won't hurt to change the gear oil if you haven't in 30,000 miles.