If it does this when the brakes are not applied, you may
have a failed axle bearing.  If the axle bearing is failed,
you will have to remove the axle which requires partial
disassembly of the differential.  If you have a failed axle
bearing, you may need at least a sleeve installed on the
axle along with a compatible bearing.  If the damage is bad
enough, you may need a new axle along with the bearing.

Another problem may be the parking brake.  This will also
require removal of the axle - both sides if it is the
parking brake.  This is because both are likely damaged if
one is damaged.  Those parking brakes are not terribly
tolerant of driving with the parking brake applied.

Good luck
Lugnut