Rigidbody.GetPointVelocity
GetPointVelocity(worldPoint: Vector3): Vector3;
Description

The velocity of the rigidbody at the point worldPoint in global space.

GetPointVelocity will take the angularVelocity of the rigidbody into account when calculating the velocity.
	// Prints the velocity of the wheel

var point : Vector3; var velocity : Vector3; point = transform.InverseTransformPoint(Vector3(0, -.2, 0)); velocity = rigidbody.GetPointVelocity(point); print(velocity.magnitude);