The hard part is calculating the load of the system. In a extremely simple example of just pulling a cart there are several variables. Some of these are, co-efficient of friction of the wheels, how level the surface is, how fast you want to start and stop, efficiency of the drive/gearbox, type of surface(mud) and speed.
Once you have calculated the load there are other factors like enviroment(heat), speed range required, response required(inertia matching), number of starts per hour, if you need to produce torque at low or high speed, the type/condition of the voltage you have available and the type of drive or starter you use.
But if you ignore all the above and have put a torque wrench on a wheel of your cart and have measured 40 in-lb of torque to move the cart and you know the wheel needs to spin 1200 rpm the equation would be.
Torque(in-lb) x RPM
------------------- = HP
63,025
40 x 1200
--------------- = .76 HP
63,025
Most likely the motor would have a very hard time starting in the above example and would trip the overload relay.
Hope this helps.
Barry1961