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Sounds like your brake discs are warped. If you feel it in the steering wheel and brake pedal its your front discs. This can be caused by rust on the brake surface, heat damage (maybe sticking brake caliper causing overheating) or if the wheel has been tightened too hard or uneven.
I had a similar problem after changing my brake pads, but on my car I only felt the pulsation when I drive on long trips, Turned out to be the pistons in the calipers sticking and caused overheating of the brakes. I had to change calipers, pads and discs because I drove too long with the problem.
I recommend you get it checked out and don't drive for too long with this.
2002 Toyota Rav4 2.4 VVTi Sport. Mods:2AZ swap, BC stage 2 cam`s, P&P cylinder head, K&N Air filter, TTE dual exhaust, Ironmann lift kit, 255/60-R16 General Grabber AT tires
Last edited by JuneBug; 01-19-2013 at 12:19 PM.