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First, we create a shape layer that will become our wheel.
Making sure our shape layer is selected...
...we create our wheel from the Ellipse.
The circle should expand from the center and from the Shape layer's anchor...
Pressing Shift+Cmd at the same time constrains it to the center outward.
Now to add a marker to the wheel.
Now we set up the keyframe position...
where the wheel travels from and to.
Now that it's set up...
...let's preview how it looks thus far.
As expected, it moves left to right only...
...because we haven't set up the Rotation parameter yet.
And finally, to make the wheel rotate