I see you like HW. =] TBh This stuff can be very complex, and there aren't a lot of good TUTs, you have to make an unfixed object then put a joint on it and enable motor then put torque/speed.
There might be a few TUTs on HW but I've found some to be a little crap, you can check YouTube, you might find something. The most I know is how to make a custom vehicle and working with 'NaN' objects
