At the equator, it's close to 24,900 miles around the planet. To go that far in 24 hours means you have to move at 1,037.5 MPH. Faster at altitude, as the circumference of your path increases. In geosynchronous orbit, it's 24,900 MPH.
If the circumference of the earth at the equator is C, then the circumference of the earth at latitude θ (i.e., the circle created by a cut by a plane parallel to a plane containing the equator) is \(C cos \theta\). Divide that by the period of rotation (say, the sidereal day) and you have the linear velocity you desired. Add in complexities as desired (e.g., nonspherical earth, topography, etc.).