Do you definitely need to use physics for this, or can you fake it?
To do it with physics you'd need to apply a force towards the sphere, and achieve a stable orbit with just the right velocity perpendicular to that force. If the body slows down it will fall towards the sphere, and if it speeds up it will fly away from the sphere. So achieving a stable orbit using just physics is tricky. But possible if you really need to do it correctly for gameplay/interactive reasons...
Otherwise you could just parent the objects to a pivot object at the sphere's position and rotate that pivot to rotate the object around the sphere. Each orbiting object could have its own pivot if they need to rotate at different speeds.