Physics of Turning a wheel under load?

[TheHolyHades1]

Hello.

In designing a swerve module, I've come across a bit of a problem; my basic knowledge of physics leaves me without a way of calculating how much torque is needed to turn a wheel under load normal to its standard axis of rotation, as is done in swerve drive, both while stationary and while moving. Could anyone please assist me in figuring it out, and/or direct me to a relevant paper?

Thanks,
Hades