Knocking sound from front end when brakes are applied?

I have a 2000 ford escort zx2 and when I brake from a moderate to high speed I hear a knocking noise that doesn't stop until the car does. Noise isn't as present when stopping from slow speed. Also, I can feel the popping on the floor board mostly on the passenger side. Any help will be greatly appreciated.

What's wrong with a Ford Dealership check the lower ball-joints, all four tie-rod ends and brake caliper brackets?