Wheel turning not working right


I need help to figure out why my angular velocity is making my wheel do this? It is set to 2, 0, 1 in hopes of making it go forward and turn. But instead it weirdly wobbles.

This is my constraint set-up.

I need any advice, I don’t really know why. I think it has to do something with how the angular velocity is constantly applying force, but not sure.