What are the signs when your starter is going out on a dodge intrepid 2002 2.7

The starter won't properly crank the engine even with a known good battery.
What are your vehicle's symptoms?

Really I don't know how to explain the noise but it is like it hesitates before starting ummmm it sounds like it doesn't want to start.

I would recommend you have a reputable shop diagnose the starting/charging system to ensure that the alternator can keep the battery fully charged and that the starter isn't drawing excessive ampereage, etc.
Both ends of both battery cables need to be clean and tight. Inspect the accesory drive belt for stretch and wear.