What's math to make a wheel spin the same torque on objects with different mass

Since this is a math thing, I’ve put this in scripting.

Let’s say that I have a truck and a normal car.

the car is lighter than the truck, and the truck is heavier than the car. we all know that.
how can I use a math formula to make the wheels on both vehicles use different torque but go the same speed? they would go as fast and accelerate as fast as one another. they would be the same.

if you still do not get my question.,

the truck is going the equal amount of speed as the car, and same way opposite around, but the truck is using a higher torque because it is heavier than the car, and the car is using a lighter torque.

how can I find the torque to apply to the car and the truck to make them both equal?

I tried mass*force, but that still results in some cars being faster than others.

I do know that F=ma, but I would have to change the constraints on my wheels to implement that. I think I’ll do that instead, and use the formula. It’ll just make things easier.

I’ll use the “Motor” “AcutatorType” for the “HingeConstraint” instance.

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