I had this same problem, but eventually figured it out.
The wheel comes off by removing the little black piece in the center of the yellow hubcap. There are a couple of snap tabs in this black piece, but it comes out well enough. You'll see the end of a metal rod going through the center of the wheels. Remove the star-looking washer and pull the wheel off. The other wheel will now come out as well, taking the rod with it.
Behind the wheel, you'll see 2 screws that hold the motor assembly in place. You'll also need to remove the seat and black cover to access the motor assembly.
Good luck.
Order a motor from Perego, for the side that is not working properly (about $20 including shipping). Talk to Perego (use Their 800 #) first because they can talk with you and determine exactly what part is needed.
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