Abstract: Imagine you are in space with a wheel, and you give it a spin, it should stay in the space place rotating about its center of mass. (Correct me if I am wrong please!) While you are in space, you push a different wheel (along the same vector as the radius) and it moves forward, but it does not spin. Now you are on Earth with both wheels and you give one a spin, the wheel rotates and it moves forward, and the other a push, and it rotates and moves forward.
From my limited understanding of physics, the forces being applied to the wheel on the ground would be gravity, normal force, friction and the angular/linear force you apply to it. Why in space does it spin and not move, or move and not spin, but when in contact with the ground, it spins and moves? Is there a force in play that I have not listed? Also, how do you calculate the linear and angular velocities of the wheels spun and pushed on the ground (And how does the angle of the surface play into this)?