From the Wikipedia article on gear ratios we learn that:
vcar = (Ctire * vengine) / (grgear * grdiff)

For those of us with no tach, RPM can be inferred using the following formula:
vengine = vcar * (grgear * grdiff) / Ctire

In cars with transaxles, grdiff is the final drive ratio, otherwise it'd be the gear ratio in the rear differential.