The control arm has to be replaced . for a 1995 sentra it costs 172$ at the dealer and on the web it available for 100$ each .
You have to take it loose from the front bearing then pry it out of the trans. Big Job
u joint
I know you will need a pickle fork or ball joint separator for the joints, other than that i think it just unbolts so sockets and wrenches
Most likely it's a CV joint.
could be a contant velocity joint
cv joint
$700-$1200
The rear universal joint on a 1998 Nissan Pathfinder should be replaced when it becomes worn out or broken. Symptoms of a worn joint include rough handling and suspension issues.
Its just above the right inner CV joint, plugged into the bottom/ back side of the engine block. You can only get to it from under the car.
The 1998 Nissan Ultima control arm is held in place by a retaining nut on both ends of the arm. The ball joint can be removed by using a hammer or mallet.
Watch this video on how to replace a u-joint to see if it helps. http://www.myjeepwrangler.com/ Fix-it > u-joint
Define scrubbing please. If it's what I'm thinking it could be the CV joint in a front axle going bad.