Hertz counts cycles per second. SI prefixes change that count by powers of ten: 1 kHz = 1,000 Hz, 1 MHz = 1,000,000 Hz, and 1 GHz = 1,000,000,000 Hz. Watch the case: mHz means millihertz, while MHz means megahertz, a billion times larger.
For a shaft rotating at 3,000 rpm, divide by 60 to get 50 Hz. Each revolution takes 1 / 50 = 0.02 seconds. Angular frequency describes that same rotation as approximately 314.159265359 rad/s. The relationships follow the NIST SI definitions and SI prefixes.