Rotate limb object

Hi all, Im still beginning to learn Unity and using Javascript as scripting language. I have a model (a car) with some limbs (wheels) and I would like to know how to rotate the wheels in both axys but without using the colliders and all that, I mean I just want to rotate the limbs without using the physics engine there, I know probably later I would need it for the main car body or something to hit the walls etc but for wheels I would be happy just knowing how can I access the limb and rotate it with code, is it possible? I have seen that we can use Meshfilter to locate individual limbs but dont know if thats the first step to do what I need (tried several ways with it and none worked). Thanks for any help