rewrite URL for file uploads

Say I have a post called “Essays” and to that post I have attached 10 PDF essays which are linked to in the post.

Currently, the URL of the post is: http://MYDOMAIN/Essays

but the URLs of the linked to PDFs are:

http://MYDOMAIN/wp-content/uploads/year/month/***.pdf

I would rather have the URL of the linked PDFs be something like:

http://MYDOMAIN/Essays/***.pdf

Is there a plugin or something I can use to achieve this URL rewriting? I don’t want to have to manually create a new upload directory (with the post name) every time I attach a PDF to a post.