Abstract
The paper presents a numerical method of dynamic analysis of a wheel that moves along an inclined plane under the action of a motor torque. The wheel is regarded as a rigid solid body in plane motion that rolls and in the same time slides along a surface which is inclined relative to the horizontal with a certain angle of known value. Therefore, the wheel may be considered as a solid rigid body having two degrees of freedom. The movement of the wheel takes place under the action of a motor torque, active forces and link forces that are unknown. For this reason, link forces must be removed from the differential equations describing the movement of the wheel. The paper also presents a method of removing the link forces from the differential equations of motion.