http://jerome.le.chat.free.fr

. name your 'wheel' object with a word that begins by wheel, and that includes the letters FT
. rotate the 'front' of your objects on their local x axis, then CTRL-A ('scale and rotation to OBdata') :

. create an animation for each wheel. only mark the Loc x y or z channels.
. go to frame 1 to initialize the script.

done. alt-A

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in the video above, the little wheel is a bit
out of true : add the DK keyword
to the name of your objects then go to frame 1
to produce the same effect.