Kevin,
Now at office, with different computer, wonderful You-Tube-Video noise sounds more like a clattering than a grinding.
If you did not have time to try this former May 12, 2012 message # 15 test, may be helpful with less other conflicting noises:
"Maybe try this to simulate exact conditions:
1. Again remove bell housing inspection plate & remove (4) spark plugs.
2. Jack up one rear wheel & insert a very secure jack stand under the axle housing.
3. Place transmission in 3rd gear, & crank engine while looking through inspection plate hole with flash light."
Making a video of a more silent starter rotating the drive train may help.
As you have witnessed thus far, you have gained a lot of very concerned, compassionate friends, all trying to assist -- it has to get fixed with this many concerned friends.