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v=omega r
The formula to calculate the linear speed
where:

is the linear velocity expressed in meters per second ( ) 
is the angular velocity expressed in radians per second ( ) 
is the radius expressed in meters ( )
For example, let's consider a vehicle with wheels having a radius of 10 centimetres. If the rotational velocity of the wheels is 20 rad/s, the linear speed of the vehicle is given by:
You'll find on this page an online converter from angular to linear velocity.