This tutorial was tested on Slackware Linux only but should work for any other Unix with some minor changes in the iostat options. Keep in mind that some file systems (zfs, vxfs etc.) have their own tools to measure disk performance. In this case you should refer to them.
To meassure the disk performance of a specific disk use iostat - not dd. You can use dd to create some load but not to meassure the performance of a disk. The usage of iostat is very easy, a simple example for /dev/sdb could look like this: