An easy RPM calc is
RPM = SFM*4/DIAMETER
RPM is obvious, SFM is the recommended surface feet per minute for your material/cutter (there are tables of this all over the place, just look for "speeds and feeds"). Diameter is the diameter in inches. For a milling cutter this is the diameter of the cutter. For turning, this is the diameter of the part.
HSS works much better at lower speeds than carbide. Stay below this value to keep from burning up cutters. For off the cuff calcs, figure 70 SFM for steel and 200 SFM for aluminum using high speed steel cutters. So, if you have a 1/2" end mill, in aluminum, figure
200*4/0.5=1600RPM
Those numbers are conservative. They go up or down depending on cutter coating, coolant, etc. They are meant as a starting point, so start there, and play with things to get something that feels/sounds right.