The shutter speed will vary according to the subject, but 1/20th of a second is a good starting point for cyclists, birds soaring at an average speed, or a car going less than 30 miles per hour.
Shutter Priority Mode
Shutter speed: 1/20th of a second
ISO: 100
Focus Mode: AF-C for Nikon, or AI Servo for Canon
Focal length: 200mm up (A long focal length helps the streaking of the background)