1995 Mazda Miata strange noises and leaking fluid

Today when I pulled out of my parking space, there was a very loud noise coming from underneath the car.It sounded like metal scraping but when I got out to check underneath, I didn't see anything. What I did see was a yellowish fluid streaming out from underneath right in front of the rear passenger side wheel. I checked my coolant and it's low, but I wouldn't think this would account for the loud noise coming from under the car. The brakes seemed fine and nothing was out of place or broken under the hood from what I could tell (although I'm definitely no expert). Any advice would be highly appreciated.