It sounds like your Power Steering system may have a leak in it.
Check your Power Steering hoses and cap for cracking or leaking. If the hoses are worn or cracked, under intense pressures from full lock operation (turning the wheel all the way) the hoses may spray power steering fluid onto the front exhaust manifold, causing it to evaporate or cook. This can cause the characteristic smoke you are describing. On many Taurus's there is a power steering cooler (a tube that has fins on it) located under the radiator and behind the bottom bumper opening. Check the cooler, and the hoses for leaking there as well as it is possible that they too can spray fluid onto the hot exhaust manifold.
Also, do not turn your steering to full lock while the vehicle is stopped. The tremendous forces can cause damage to the power steering pump and associated hoses. If the need arises for full lock operation, do so for only a small amount of time (less than 5 seconds) and make sure to have the vehicle moving slightly (forwards or reverse) to lessen the load on the power steering assembly.
Most likely warped rotors.
power steering is very noisy
The wheel bearings in the 1996 and newer Taurus / Sables cannot be greased.See "Related Questions" below for information / procedures for replacing wheel bearings.
It Might, This is an option
you dont
Your battery is about dead .
Approximately 3/4 of a litre.
It is behind the pannel directly below the steering wheel. It is yellow. It is behind the pannel directly below the steering wheel. It is yellow.
Classic sign of low steering fluid.
Center the steering wheel with the wheels straight ahead. Remove the steering column trim, remove the ignition lock cylinder, remove the streering wheel. The clockspring is located under the streering wheel, and includes the ignition key-in warning pigtail. You will have to follow the wiring to the base of the column and unplug the connectors. Instalation is in the reverse order as disassembly.
Motorcraft MERCON automatic transmission fluid is used as the power steering fluid ( according to the Owner Guide )
there is no drive shaft it's front wheel drive