From the vehicle recovery class which was excellent. Here's a short video: http://www.youtube.com/watch?v=Dllu_t2sAnM&feature=youtu.be

The wheels are pointed away from the roll. To recover at this point, the wheels should be turned into it. http://www.youtube.com/watch?v=Dllu_t2sAnM&feature=youtu.be

Plenty of pets from small to large.