A kinematic and dynamic model for a three degree-of-freedom surf zone robot is developed and tested with a physical test platform and with a simulated robot in Robot Operating System. Derived from Lagrangian mechanics and relying on angular wheel velocities from encoders, the model successfully demonstrates accurate prediction of motion on simple terrain. The application of the model to future platforms is analyzed and a broad examination of the current state of surf zone robotic systems is provided. An in-depth discussion of the potential improvements to the model is made and the critical work still needed to realize a complete and deployable surf zone platform is described for future study.