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The wheel was an invention in humanity's early history, used for transportation. Scaroth implied that he "invented the first wheel". (TV: City of Death) A Silent, whom the Eleventh Doctor encountered in Graystark Hall two years after its closure, claimed that his race had ruled the Earth "since the wheel and the fire". (TV: Day of the Moon)
When Ian Chesterton expressed his bewilderment at the First Doctor's description of his police box-shaped home as a "ship", the Doctor sarcastically told him that "this doesn't roll along on wheels, you know." (TV: "An Unearthly Child")