A wheel assembly for a vehicle includes a rim and an energy recovery system. The energy recovery system includes a flywheel, a continuously variable planetary (CVP), a first planetary gear set, and a second planetary gear set. The flywheel is substantially concentric with the rim and operable to rotate relative to the rim. The CVP is positioned within the flywheel and is operable to transmit rotational motion between the flywheel and the rim. The first planetary gear set is rotationally coupled to the rim and the CVP such that rotational motion transmitted between the CVP and the rim is transmitted through the first planetary gear set. The second planetary gear set is rotationally coupled to the CVP, the rim and the flywheel such that rotational motion transmitted between the CVP, the rim and the flywheel is transmitted through the second planetary gear set.