The disclosure is directed to a wheel force transducer mountable on a rotatable wheel in a machine, where the wheel force transducer includes an inner flange configured to be connected to an axle shaft of the machine, an outer flange configured to be connected to the wheel of the machine, a tube connected to the inner flange on one end and connected to the outer flange on the other end; and at least one force sensor mounted on the tube, where at least one force sensor is configured to provide data for at least one of the forces and moments subjected to the wheel.