We discuss the kinematics and dynamics of a wheelset rolling on a railway track. The mathematical model of a suspended wheelset rolling with constant speed on a straight track is set up and its dynamics is investigated numerically. The results are presented mainly on bifurcation diagrams. Several kinds of dynamical behavior is identified within the investigated speed range. We find a stationary equilibrium point at low speeds and at higher speeds symmetric and asymmetric oscillations are found and ranges with chaotic motion are identified. The bifurcations are described.