It's extremely simple if you use two different figures. Like MPK said, make a circle, make a smaller circle, place the smaller circle in the bigger circle.
However, if you want it all one figure then you have to make a circle, create a hidden line segment on its node, make another circle on the end of the line segment, and adjust the length and angle of the line segment so that the second circle is within the first. That way the two circles will be connected and rotate in unison.
It's not rocket science, I'm sure if you work at it a little longer you'll figure it out.
Beware of Jess the Mini-Mod. He's still here...