this could be a tone ring issue. Fords are known for this. I f your service brake system light is on , if you can look under the car and inside all four wheels there is a small gear looking metal part around the axel immediately iside the rim pressed around the axel. If any of theses are loose ormissing that is the problem. If you cant do the inspection, go to auto zone or another local parts house, most will run a diagnostic check for you for free. Good luck