noise when AC is on in 95 Camry

My 1995 Camry LE 4-cyl auto with 87,000 miles has started making a noise when AC is started. The noise is of a GRRR-GRRR-GRRR type, and is most easily heard after I start engine and then turn AC on. Noise is not noticeable in normal driving. Any suggestion to its cause and how/where to fix it? Thanks.

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