Flight Crew Air Transport Pilot (ATP)
Aircraft Equipment Problem Less Severe
Flight Crew Executed Go Around / Missed Approach; General Declared Emergency; General Maintenance Action
Aircraft
Upon departure while the gear was being raised; the nose gear made a loud noise and caused a vibration followed by a 'STEERING INOPERABLE' caution message.  After leaving 10;000 feet MSL we ran the 'Steering Inoperable' QRH checklist and the message cleared.  We continued on to destination airport.  We were cleared for the visual.  I called for gear down and Flaps 30.  Upon the gear reaching full extension; we received the 'STEERING INOPERABLE' caution message.  I had the First Officer run the 'Steering Inoperable' QRH checklist.  The result this time was that the message persisted.  We elected to go-around; and ask for a long downwind to deal with the issue.  We contacted the Company and had everyone included in the situation.  After talking with Dispatch and Maintenance; we talked with ATC and declared an emergency.  We requested [the long runway] and were cleared for the visual.  We then landed and were able to exit the runway.  We tried to reset the nose wheel steering on the ground with no positive results.  We then coordinated with Company and were towed in.  The passengers were included in everything that was taking place.  The Flight Attendant advised me that everyone was OK and happy to be kept abreast.  The only threat that may have existed would have been that we chose to run the 'Steering Inoperable' QRH checklist inside the marker.  We were attempting to solve the problem so we wouldn't have to go around.  We were unsuccessful so we went around.  In the future; I would go around before attempting to resolve the problem.  This would allow us to work on things at a more relaxed pace.
CRJ-200 Captain reports a loud noise and vibration from the nose gear as it is being raised after takeoff.  A 'STEERING INOPERABLE' caution is annunciated and is cleared using QRH procedures.  During approach at the destination airport; the caution reappears when the gear is extended and cannot be cleared.  A go-around is initiated followed by an uneventful landing with a tow to the gate.