This page introduces a set of useful technics to perform some specific operations on the wheels. It is a good idea to spend some time observing how it works and then making it your own in order to use it to solve problems.
In each case, the area colored in grey is going to stay untouched by the technic. In other words only the non-grey colored pieces will possibly be moved around. Pay a close attention to how those changes take place to be able to make use of that when you need it.
Click on the image to see the matching technic.