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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 motordoi:10.2478/raft-2019-0030 fatcat:lv7shrfzpjc5pgl66vk3popksi