I'm not sure what it is but it happens on a hard brake. I had to do a hard brake cause of traffic ahead of me and when I did i could feel on the pedal and hear like a metal grinding noise like if gears or something we're sliping. I also noticed it if I slightly brake when I pass a bump. Anyone know what this is?

 

Time to replace your pads (sounds like down to the rivets on one of them). Let it go much longer and you may be out rotors as well.

 

I have new pads and rotors though. Like last month new

 

And it did it before I replaced them too if you were thinking i put them on wrong

 

Did you replace all 4 sets? If not, could be the sets you didn't replace? Caliper hanging up? Dust shield bent? Otherwise I'm at a loss

 

Sounds like ABS is working, honestly. Nothing to worry about.

 

Could be, but it just sounds and feels like something is falling apart

 

The part about hearing/feeling it even when slightly braking wouldn't make sense though if simply ABS kicking in.

 

slightly braking over a bump would cause ABS to come on, too.

 

Which rotor and pad you installed? A cheap rotor could cause noise or shake. Then i replaced the rotor after 6 months with a little expensive one, I remember it is called Wagner something (about $75 compared with previous $45 one). Now everything is working fine and I am happy with it.