We calculate Keplerian (mass shedding) configurations of rigidly rotating neutron stars and strange stars with crusts. We check the validity of the empirical formula for Keplerian frequency, f
K, proposed by Lattimer & Prakash (
2004Sci...304..536L), f
K(M)=C(M/M
☉)
1/2(R/10km)
–3/2, where M is the (gravitational) mass of the Keplerian configuration, R is the (circumferential) radius of the non-rotating configuration of the same gravitational mass, and C=1.04kHz. Numerical calculations are performed using precise 2D codes based on the multi-domain spectral methods. We use a representative set of equations of state (EOSs) of neutron stars and quark stars. We show that the empirical formula for f
K(M) holds within a few percent for neutron stars with realistic EOSs, provided 0.5M
☉<M<0.9M
maxstat, where M
maxstat is the maximum allowable mass of non-rotating neutron stars for an EOS, and C=C
NS=1.08kHz. Similar precision is obtained for strange stars with 0.5M
☉<M<0.9M
maxstat. For maximal crust masses we obtain C
SS=1.15kHz, and the value of C
SS is not very sensitive to the crust mass. All our Cs are significantly larger than the analytic value from the relativistic Roche model, C
Roche=1.00kHz. For 0.5M
☉<M<0.9M
maxstat, the equatorial radius of the Keplerian configuration of mass M, R
K(M), is, to a very good approximation, proportional to the radius of the non-rotating star of the same mass, R
K(M)=a R(M), with a
NS≃a
SS≃1.44. The value of a
SS is very weakly dependent on the mass of the crust of the strange star. Both a values are smaller than the analytic value a
Roche=1.5 from the relativistic Roche model.