It sounds like the brushes on your Roomba are having difficulty turning. In order to see if the brushes are turning or not, you may run a cleaning cycle with the dust bin removed.
The grinding noise could be coming from the gears in the motor gearbox or the gears in the brush casing. You may need to take your robot apart in order to see exactly which parts need to be replaced.
We do offer all the Roomba parts compatible with your robot.
If you do not feel comfortable taking your robot apart we also offer a Roomba repair service.
We would be interrested to learn how this problem is resolved.
Yes both brushes should have a yellow bearing. If the bearing is missing it can actually damage your robot. One mistake that customers often do when their brush bearing is missing is to insert the brush on backwards. This of course can damage the robots gears.
The square pegs of the brushes should insert in the square gears on the left side of the robot assuming that the dust bin part is closest to you when it is on it’s back. On the right side of the brushes you have the yellow bearings. Make sure that these bearings are clean. Dirt can get inside these bearings and prevent the brushes from turning properly.