Multiply the number of rotations per second by 360 degrees. For example, if a pulley rotates two times per second, 2 * 360 = 720 degrees per second.
Multiply the resulting value by π / 180. This converts the measurement from degrees to radians. Though this step is not absolutely required, it is highly recommended as any further usage of the derived speed requires radian units. Continuing from above, 720 * π / 180 = 720π / 180 = 4π per second.
Multiply the resulting angular speed by 60 seconds. This changes the angular speed to rotational speed in terms of revolutions per minute. Thus, (4π radians / second) * ( 60 seconds / 1 minute ) = 240π radians of revolution per minute.