That would be precision work placing the motor on the body so that the trust is in line with the axis of rotation. Some of those bodies turn vary slowly and would require some good senors and computers to determine the axis of rotation. Still, it is doable.
You’d have to deal with x, y, and z axis rotation(as in multi axis tumbling) as well so you’d have to think of two or three drives to allow for control of angular kinetics.
Above all, it looks like as a race we are going to have to hike up our britches and fully thrust our selves out into near space and interplanetary space to begin protect our selves and to harvest the bounties that are our there...I was born 46 years too late!