BEVERLY — A single-engine plane performing touch-and-go maneuvers landed safely in Beverly Saturday morning after losing a rear wheel while in flight, officials said.

A flight instructor and student were aboard the aircraft when the wheel fell off as the plane was doing takeoffs and landings, said Officer Mike Boccuzzi, a Beverly police spokesman.

The instructor alerted the tower to the problem and the plane circled Beverly Regional Airport while emergency crews got into position on the runway at about 11:30 a.m., he said.

“The plane was able to make a very good landing,’’ said Beverly Deputy Fire Chief Michael McCadden. “The pilot did a superb job.’’

The two men aboard the plane were not injured, officials said.

The aircraft is a Piper PA-28 registered to Beverly Flight Center, a flight school, according to Federal Aviation Administration records.

Esteban Monterroso, 24, a pilot who witnessed the landing, said the flight instructor was operating the plane when he heard a strange noise and contacted the control tower.

Monterroso said the plane circled for about 15 minutes before landing.

“It was a perfect landing,’’ Monterroso said. “It couldn’t have been better.’’

The FAA said it is investigating.

Laura Crimaldi

and Martha Schick

Laura Crimaldi can be reached at laura.crimaldi@globe.com. Follow her on Twitter @lauracrimaldi. Martha Schick can be reached at martha.schick@globe.com. Follow her on Twitter @MarthaSchick.