look these commands up and give them ago.
PHY SET RIGID BODY LINEAR MOMENTUM ID, x#, y#, z#
PHY SET RIGID BODY LINEAR VELOCITY ID, x#, y#, z#
PHY SET RIGID BODY ANGULAR MOMENTUM ID, x#, y#, z#
PHY SET RIGID BODY ANGULAR VELOCITY ID, x#, y#, z#
PHY SET RIGID BODY SLEEP ANGULAR VELOCITY ID, value#
PHY SET RIGID BODY SLEEP LINEAR VELOCITY ID, value#
PHY SET RIGID BODY KINEMATIC POSITION ID, x#, y#, z#
PHY SET RIGID BODY KINEMATIC ROTATION ID, x#, y#, z#
plus check out demo prog in rigid folder named movment.
a note: any move command used to move objects in non physX code will not work in physX code.
Dark Physics makes any hot drink go cold.