Vehicle dynamics can play a significant role in the noise emission from heavy vehicles. In this work, a heavy vehicle noise emission model is presented to study the influence of translational vehicle dynamics on the sound power level emitted by heavy-duty trucks. Vehicle speed and acceleration are calculated using an analytical approximation that describes the tractive and retarding forces acting on a heavy vehicle on grade. Heavy vehicle noise emission associated with rolling noise is defined with reference to the Nordic traffic noise model that takes into account the number of axles for different articulated trucks. An expression for engine noise emission in terms of vehicle speed, weight, engine power, aerodynamic properties and road grade is derived. The individual and combined effects of engine noise and rolling noise for different vehicle mass combinations are examined. The influence of road grade on vehicle kinematics and noise emission is also investigated.