We consider the quantum dynamics of a large number $N$ of interacting bosons coupled a tracer particle, i.e. a particle of another kind, on a torus. We assume that in the initial state the bosons essentially form a homogeneous Bose-Einstein condensate, with some excitations. With an appropriate mean-field scaling of the interactions, we prove that the effective dynamics for $N\to \infty$ is generated by the Bogoliubov-Fr\"ohlich Hamiltonian, which couples the tracer particle linearly to the excitation field.