One important factor is the mass of the components. Smaller, lighter components and shorter strokes allow higher RPMs. Given equal RPMs, an engine with a bigger stroke will put higher stresses on the components, which means they need to be stronger, which means they need to be heavier, which increases the stress even more. 

Motorcycle engines tend to have smaller and lighter parts than car engines. 
Big diesel engines have really long strokes and produce peak power at lower RPMs. 

RPMs vs street speed is of course dependent on gearing primarily, and even two cars probably don't have the same speed at the same RPMs.