Yes, your rotors or rear brake components can cause a grinding noise. Depending on if you have rims or wheels, you may be able to peer through the rim and see the life of your current brake pads. Depending on your mileage, if you have over 55k miles on your Acura it may be beneficial to have a four wheel brake check.
It's possible that what you're hearing is a brake noise. If it's truly a grinding noise you should get this checked out right away before it causes damage or it may present a safety issue. On average, brake pads get replaced about every 30,000 miles or so depending on how you drive your vehicle.
〉 Answered on Jan 15th, 2009 by Lori Johnson, Owner and Instructor at Ladies Start Your Engines