Hold the show.....rotation....
Most of these objects have a rate of rotation of hours to days at the most.
Eros of NEAR fame is 5 hours. Best case would be to apply pressure to the pole of the spin axis of an object without serious axial precession if this is a helpful vector of delta V. There would be friction that would spin the whole spacecraft/balloon setup but it should work from there.
Oh well, maybe the balloon will be covered with nanotech flagellum to walk the balloon across the surface... ;)