I have taken a basic electrical engineering course in college, but it didn't provide me with much insight on designing circuits, looking for a little help..

I am using two DC motors (http://www.andymark.com/CIM-motor-FIRST-p/am-0255.htm) to power two shafts with wheels on it (maybe 5lbs load per shaft). The motor has been geared down (14 tooth to 40 tooth) to less then 2000 rpm no load. The motors need to be running in opposite direction at the same speed.

Any recommendation on how to make this happen? Budget is low, under $50 but not a limiting factor to getting the project completed.

 

How much precision in control? Any synchronization? Motor speed will vary with load.
Simple control is a couple of 555 PWM based controllers.
Max.