How to select a DC motor parameters
Given a speed/torque requirement, you're going to want to pick a motor out based on K, the maximum rated voltage, and the maximum rated current/stall current. The equations you care about:

Max motor speed (in rpm, steady state, no load):
$$\dot{\theta}_{max} = V_{max}K $$

Max motor torque (in Nm):
$$ \tau_{max} = I_{max} \frac{60}{2\pi K} $$

The friction torque and load inertia are both only relevant to the torque specification of your motor. Also note that you'll probably need a small (possibly single stage) gear reduction to hit your speed/torque requirements, and a 10s of kW motor controller (~20kW). Sounds like a motor you might find in an electric bike or low power electric motorcycle.