by counter rotate do you mean as in rotate about the centre of the vehicle (like a tank, with tracks moving in opposite directions to do a 360 spin).
If so then i think the best way to look at it would be to take a force couple, modeling the vehicle as a circle with tangental force components.
You would need to set a target rotational speed (omega [rad/s])
Its probably best to treat it like a spinning disc and calculate the torque by T=I.alpha
where T=torque, I = moment of inertia (need to also calculate this, different formulas for different shapes), alpha=angular acceleration (calulate by differentiating angular velocity (omega) wrt time).
Would be interested to see what others think...