1996 GMC Jimmy Brake Problems

I have a 1996 GMC Jimmy, and I believe I am having problems with the brakes now. It seems that when I have to press them hard (to stop suddenly) they grab, let-go, grab, let-go, and all while it is
grabbing the tires are screeching, but it's not stopping like it should. It takes forever to stop when I NEED to stop. Please help!
ABS light doesn't come on and isn't on. The light turns on with the rest of the "idiots lights" when I start the truck like normal. During a hard stop the entire truck rocks while, and pulls to the right.
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If you mean that you try to do a panic stop - stand right on the brake pedal, and the truck exhibits this type of pulsed braking, then that's how it should work. ABS does exactly that - it applies the brakes and releases them based on it sensing the wheel locking up. As for the screeching - please explain more. Is it little chirps? What is the air pressure in each tire? What is the condition of the tires? Little chirps would be expected, especially coming from the rear since the box of the truck is very light and allows the rears to lock up very easily. If the tire pressure is incorrect I would also expect some screeching, but not a lot - again, more like chirps. Finally - if the tread is worn badly I would certainly expect chirping.

If the ABS light is not on that's a good thing. I'm guessing that you're aware that when it comes on it is signifying a fault condition.
Your truck pulling to the right is an indication of uneven brake pressure at one of the wheels. Either your left side is not actuating enough or your right side is actuating too much. What is the condition of each rotor and pad set? Are the rears properly adjusted? If you are getting any sort of motion (what you refer to as rocking - please explain that better), then you've got worn brake parts. Warped rotors, worn pads, out of round drums, something of that sort. Sounds to me like you've got to start with the basics and take a close look at the condition of those brakes.
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-Mike-
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