artemedes... great to see that this interests you. Genuine interest is truly refreshing! Genuine interest may tend to drop off when you take university classes (with lots of math) dealing with questions like this (actually, this would be considered quite easy compared to some of the stuff they make us do).
Relative to the CENTRE of the tire: the speed is equal to 55mph at all times. The velocity is equal to 55mph in the direction tangent to the tire. This is quite a trivial answer because the answer is somewhat obvious.
Relative to an inertial observer on Earth: this is more complicated. You must add the velocity vector of the pebble relative to the centre of the tire to the velocity vector of the centre of the tire relative to the inertial observer. If you think about what I just wrote, it makes intuitive sense. Velocity of pebble relative to centre of tire + velocity of centre of tire relative to observer yields velocity of pebble relative to observer.
The only time the speed of the pebble is zero is when it is contacting the road. This may seem intuitively incorrect, possibly because the pebble is accelerating at this point. Just think about it like throwing a ball in the air. When the ball goes up, it must come down, which means that at some point, the speed of the ball is zero. The acceleration is always constant (9.8 m/s^2 down), but since it is a continuous function, the speed is zero at a point.