If speed is not an issue, per say, you could have it attached to a spring release gear mechanism. Think of a clock gearbox. You step, the plate pushes down a lever that knocks a gear a little bit, this then returns and bypasses moving the gear. Each step moves it farther and farther. Remember, in theory, even if you have it barely move the gear, you can have that gear run against a much smaller gear attached to a larger gear. Your speed has no limit.
Your linear velocity will be easily calculated given you know the rotational velocity and the radius with the equation V = (angular velocity) times radius.