A tachometer is literally a "speed-measurer", since the Greek root tach- means "speed". This is clear in the names of the tachyon, a particle of matter that travels faster than the speed of light (if it actually exists, it's so fast that it's impossible to see with any instrument), and tachycardia, a medical condition in which the heart races uncontrollably. Since the speed that an auto tachometer measures is speed of rotation of the crankshaft, the numbers it reports are revolutions per minute, or rpm's.
1810, in the meaning defined above
Greek tachos speed + English -meter