I had this just after I'd fitted a new timing belt, water pump and aux belt. I'd re-packed the aux belt tensioner with grease as it was bone dry - turned out I hadn't torqued up the aux belt pulleys enough.
I'd second the idea of changing the aux belt and re-greasing the tensioner - Though you have to turn the tensioner CLOCKWISE (highlighted with the red arrow) to release the tension. Find a spanner that's comfortable to hold tightly as you have to put a bit of a heave into it to release the tension!
it's a dead easy job to do, can be done with few tools and takes about half an hour - I did it whilst doing the rest of the work and I had no previous experience of engine work at all.
EDIT: Just to be clear - to release the tension on the aux belt, use a 15mm spanner on the tensioner bolt (red arrow) and heave clockwise - you'll see the belt go slack - whilst holding the tension slip the belt off. (Mind fingers!)
Undo the two blots holding the tensioner to the engine block (down the side of the engine) - once the tensioner assembly is off then obviously remove the tensioner pulley bolt anti-clockwise. The V6 Cambelt DVD shows how to re-pack the tensioner pulley with grease - it's a quick job once you have the pulley in your hand.