It's probably time for your to become intimate with your driveshaft and rear end.
If you have a grinding noise at the rear of the engine, the splines in the U-joint may be bad. Slide the boot back at the engine output shaft and see if the U-Joint is turning when you're in gear. If the U-joint is turning, the front splines on the U-Joint are good.
If the U-joint turns and the driveshaft doesn't, the splines in the rear of the U-joint are bad.
If the noise is in the rear wheel hub, the pinion gear is a good suspect.