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The powered wheel (blue) rotates the unpowered and free spinning wheel (red) in the opposite direction, which cancels out every torque moment. Braces (yellow) have high angular drag which makes the powered wheel turn faster and the unpowered wheel slower.
The acceleration on the red "powered" wheel makes it act like an unpowered wheel, you could also use that or a swivel instead.
You can also join the Besiege Discord if you need help, just ping me there.