A mathematical model was developed to predict traction forces of rigid wheels. The modeling was based on the energy principle that the total energy delivered to a driving wheel is equal to the works done by the useful traction force and motion resistance of that wheel. The effect of the wheel slippage was also included in the modeling. Verification of the proposed model was provided by comparing the tractive coefficients predicted by the model to those obtained experimentally at the in-door soil bin tests. The model predictions were found to be a reasonable agreement with the experimental results.