diff --git a/Apps/Sandcastle/gallery/Time Dynamic Wheels.html b/Apps/Sandcastle/gallery/Time Dynamic Wheels.html
new file mode 100644
index 000000000000..6ba834c63952
--- /dev/null
+++ b/Apps/Sandcastle/gallery/Time Dynamic Wheels.html	
@@ -0,0 +1,127 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta charset="utf-8">
+    <meta http-equiv="X-UA-Compatible" content="IE=edge">
+    <meta name="viewport" content="width=device-width, initial-scale=1, maximum-scale=1, minimum-scale=1, user-scalable=no">
+    <meta name="description" content="Dynamically rotate a model's wheels based on its velocity using node transformations.">
+    <meta name="cesium-sandcastle-labels" content="Showcases">
+    <title>Cesium Demo</title>
+    <script type="text/javascript" src="../Sandcastle-header.js"></script>
+    <script type="text/javascript" src="../../../ThirdParty/requirejs-2.1.20/require.js"></script>
+    <script type="text/javascript">
+    require.config({
+        baseUrl : '../../../Source',
+        waitSeconds : 60
+    });
+    </script>
+</head>
+<body class="sandcastle-loading" data-sandcastle-bucket="bucket-requirejs.html">
+<style>
+    @import url(../templates/bucket.css);
+</style>
+<div id="cesiumContainer" class="fullSize"></div>
+<div id="loadingOverlay"><h1>Loading...</h1></div>
+<div id="toolbar"></div>
+<script id="cesium_sandcastle_script">
+function startup(Cesium) {
+    'use strict';
+//Sandcastle_Begin
+var viewer = new Cesium.Viewer('cesiumContainer', {
+    shouldAnimate: true
+});
+
+//Make sure viewer is at the desired time.
+var start = Cesium.JulianDate.fromDate(new Date(2018, 11, 12));
+var totalSeconds = 10;
+var stop = Cesium.JulianDate.addSeconds(start, totalSeconds, new Cesium.JulianDate());
+viewer.clock.startTime = start.clone();
+viewer.clock.stopTime = stop.clone();
+viewer.clock.currentTime = start.clone();
+viewer.clock.clockRange = Cesium.ClockRange.LOOP_STOP;
+viewer.timeline.zoomTo(start, stop);
+
+// Create a path for our vehicle by lerping between two positions.
+var position = new Cesium.SampledPositionProperty();
+var startPosition = new Cesium.Cartesian3(-2379556.799372864, -4665528.205030263, 3628013.106599678);
+var endPosition = new Cesium.Cartesian3(-2379603.7074103747, -4665623.48990283, 3627860.82704567);
+// A velocity vector property will give us the entity's speed and direction at any given time.
+var velocityVectorProperty = new Cesium.VelocityVectorProperty(position, false);
+var velocityVector = new Cesium.Cartesian3();
+// Store the wheel's rotation over time in a SampledProperty.
+var wheelAngleProperty = new Cesium.SampledProperty(Number);
+var wheelAngle = 0;
+
+var numberOfSamples = 100;
+for (var i = 0; i <= numberOfSamples; ++i) {
+    var factor = (i / numberOfSamples);
+    var time = Cesium.JulianDate.addSeconds(start, factor * totalSeconds, new Cesium.JulianDate());
+
+    // Lerp using a non-linear factor so that the vehicle accelerates.
+    var locationFactor = Math.pow(factor, 2);
+    var location = Cesium.Cartesian3.lerp(startPosition, endPosition, locationFactor, new Cesium.Cartesian3());
+    position.addSample(time, location);
+    // Rotate the wheels based on how fast the vehicle is moving at each timestep.
+    velocityVectorProperty.getValue(time, velocityVector);
+    var metersPerSecond = Cesium.Cartesian3.magnitude(velocityVector);
+    var wheelRadius = 0.52;//in meters.
+    var circumference = Math.PI * wheelRadius * 2;
+    var rotationsPerSecond = metersPerSecond / circumference;
+
+    wheelAngle += ((Math.PI * 2 * totalSeconds) / numberOfSamples) * rotationsPerSecond;
+    wheelAngleProperty.addSample(time, wheelAngle);
+}
+
+function updateSpeedLabel(time, result) {
+    velocityVectorProperty.getValue(time, velocityVector);
+    var metersPerSecond = Cesium.Cartesian3.magnitude(velocityVector);
+    var kmPerHour = Math.round(metersPerSecond * 3.6);
+
+    return kmPerHour + ' km/hr';
+}
+
+var rotationProperty = new Cesium.CallbackProperty(function(time, result) {
+    return Cesium.Quaternion.fromAxisAngle(Cesium.Cartesian3.UNIT_X, wheelAngleProperty.getValue(time), result);
+}, false);
+
+var wheelTransformation = new Cesium.NodeTransformationProperty({
+    rotation: rotationProperty
+});
+
+var nodeTransformations = {
+    'Wheels': wheelTransformation,
+    'Wheels_mid': wheelTransformation,
+    'Wheels_rear': wheelTransformation
+};
+
+// Add our vehicle model.
+var vehicleEntity = viewer.entities.add({
+    position : position,
+    orientation : new Cesium.VelocityOrientationProperty(position), // Automatically set the vehicle's orientation to the direction it's facing.
+    model : {
+        uri : '../../../../Apps/SampleData/models/GroundVehicle/GroundVehicle.glb',
+        runAnimations : false,
+        nodeTransformations : nodeTransformations
+    },
+    label : {
+        text: new Cesium.CallbackProperty(updateSpeedLabel, false),
+        font : '20px sans-serif',
+        showBackground : true,
+        distanceDisplayCondition : new Cesium.DistanceDisplayCondition(0.0, 100.0),
+        eyeOffset : new Cesium.Cartesian3(0, 3.5, 0)
+    }
+});
+
+viewer.trackedEntity = vehicleEntity;
+vehicleEntity.viewFrom = new Cesium.Cartesian3(-10.0, 7.0, 4.0);
+//Sandcastle_End
+    Sandcastle.finishedLoading();
+}
+if (typeof Cesium !== 'undefined') {
+    startup(Cesium);
+} else if (typeof require === 'function') {
+    require(['Cesium'], startup);
+}
+</script>
+</body>
+</html>
diff --git a/Apps/Sandcastle/gallery/Time Dynamic Wheels.jpg b/Apps/Sandcastle/gallery/Time Dynamic Wheels.jpg
new file mode 100644
index 000000000000..18c80695431b
Binary files /dev/null and b/Apps/Sandcastle/gallery/Time Dynamic Wheels.jpg differ
diff --git a/CHANGES.md b/CHANGES.md
index e4eabc4cdd4a..7a363ec0f2de 100644
--- a/CHANGES.md
+++ b/CHANGES.md
@@ -15,6 +15,7 @@ Change Log
 * Added support for polylines on 3D Tiles. [#7437](https://github.com/AnalyticalGraphicsInc/cesium/pull/7437)
 * Added `classificationType` property to `PolylineGraphics` and `GroundPolylinePrimitive` which specifies whether a polyline clamped to ground should be clamped to terrain, 3D Tiles, or both. [#7437](https://github.com/AnalyticalGraphicsInc/cesium/pull/7437)
 * Added the ability to specify the width of the intersection volume for `Scene.sampleHeight`, `Scene.clampToHeight`, `Scene.sampleHeightMostDetailed`, and `Scene.clampToHeightMostDetailed`. [#7287](https://github.com/AnalyticalGraphicsInc/cesium/pull/7287)
+* Added a [new Sandcastle example](https://cesiumjs.org/Cesium/Build/Apps/Sandcastle/?src=Time%20Dynamic%20Wheels.html) on using `nodeTransformations` to rotate a model's wheels based on its velocity. [#7361](https://github.com/AnalyticalGraphicsInc/cesium/pull/7361)
 
 ##### Fixes :wrench:
 * Fixed an issue where classification primitives with the `CESIUM_3D_TILE` classification type would render on terrain. [#7422](https://github.com/AnalyticalGraphicsInc/cesium/pull/7422)
diff --git a/Source/DataSources/ModelGraphics.js b/Source/DataSources/ModelGraphics.js
index 6ee82b453bb8..0e357b380c86 100644
--- a/Source/DataSources/ModelGraphics.js
+++ b/Source/DataSources/ModelGraphics.js
@@ -46,7 +46,7 @@ define([
      * @param {Property} [options.incrementallyLoadTextures=true] Determine if textures may continue to stream in after the model is loaded.
      * @param {Property} [options.runAnimations=true] A boolean Property specifying if glTF animations specified in the model should be started.
      * @param {Property} [options.clampAnimations=true] A boolean Property specifying if glTF animations should hold the last pose for time durations with no keyframes.
-     * @param {Property} [options.nodeTransformations] An object, where keys are names of nodes, and values are {@link TranslationRotationScale} Properties describing the transformation to apply to that node.
+     * @param {PropertyBag} [options.nodeTransformations] An object, where keys are names of nodes, and values are {@link TranslationRotationScale} Properties describing the transformation to apply to that node.
      * @param {Property} [options.shadows=ShadowMode.ENABLED] An enum Property specifying whether the model casts or receives shadows from each light source.
      * @param {Property} [options.heightReference=HeightReference.NONE] A Property specifying what the height is relative to.
      * @param {Property} [options.distanceDisplayCondition] A Property specifying at what distance from the camera that this model will be displayed.
