According to Wikipedia's Geographic_coordinate_conversion#From_geodetic_to_ECEF_coordinates
The 3D cartesian coordinates $X, Y, Z$ in Earth-centered, Earth-fixed coordinates assuming an ellipsoidal shape is given by:
$$X = \left(N(\phi) + h \right) \cos\phi \cos\lambda $$
$$Y = \left(N(\phi) + h \right) \cos\phi \sin\lambda $$
$$Z = \left(\frac{b^2}{a^2} N(\phi) + h \right) \sin\phi $$
where $\phi, \lambda, h$ are latitude, longitude, and altitude, and $a, b$ are the equatorial and polar radii of the ellipsoid used, and
$$N(\phi) = \frac{a^2}{\sqrt{a^2\cos^2\phi + b^2 \sin^2\phi}}. $$
Lat, lon, alt in "GPS coordinates} is based on WGS 84 with $a, b$ of 6378.1370 and 6356.7523 kilometers, respectively.
Let's say I was in Manila and needed to know the speed I was moving around the Earth's axis while paying a parking ticket. According to Google Maps, the GPS coordinates are about 14.590037, 120.981361. Since we're so close to the ocean I'll estimate the altitude to be 50 meters.
Plugging all of this into the equations above, I get:
$X, Y, Z = $ -3178031.13, 5293031.55, 1596255.68 meters. The radius, or distance from the axis is
$$r = \sqrt{X^2 + Y^2} = \text{6173820.93 meters.}$$
Last time I checked (1970) the Earth's rotation period was 23h, 56m, 4.09s, or 86164.09 seconds. Speed is then the circumference divided by the rotation period:
$$speed = \frac{2 \pi r}{T}$$
That makes the speed 450.202 m/s or 1620.72 kph.
Thanks to @MattJessick for reminding me about the $2 \pi$!
Now what do we get if we do this the simpler way, assuming the Earth is a sphere. We can say the distance to the axis is just some radius times $cos \phi = $ 0.967752987 , but what radius? Commonly people use the equatorial radius for places near the equator, or about 6378 km, though sometimes 6371 is used for an "average".
Those give 450.09 and 449.59 m/s or 1620.34 and 1618.56 kph.