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Roll able Ball with "Wheels" help

Hey everyone, I Have a Spherical model where I need to create physics base movement, it has 2 separate “wheels” that turns while the
center stays fixed, sort like a gyroscope.
so when turning around a corner the one wheel would spin less and the other more …, Can anybody help explain to me how to go about doing this? Or perhaps point me to a tutorial that might help me?

Thank a lot!