I have a B1500 van with a 3.9L V6. When it gets cold out (maybe 20 degrees F or colder), and I first start it for the day, the starter will grind. First time you crank it, it doesn't quite catch or something. After the initial grind, you can then procede to crank again and it won't do it a second time. I don't know if this is something to be worried about or not, but I didn't want to tear up the starter gear at all. Should I just take it off and clean it?

 

Most likely the solenoid on the starter is starting to go.

 

If the sound you hear is like somone reving a weedeater then the solonoid (as alloro mentioned) isn't kicking the gear out to mesh with the ring gear so you are getting no damage.

Disconnect the battery, then loosen, and retighten the 2 positive cables going to the starter. reconnect the battery and see if it helps some, other wise you need to replace the starter. You need to dsisconnect the battery since one of the starter cables is directly connected to the battery (the thick one) the thin one goes from the starter relay to the battery. You dont want to be there if the cable or wrench should happen to touch any metal other than the nut (on the starter..not the user).