First, oops(!) I wrote pound feet and it's actually foot pounds. I hate it when I cross those up. If you search online you can find various calculators and also charts for various cartridge and firearms combos. This site has a reasonable explanation of the formulas and some of the limitations:
http://kwk.us/recoil.html
It still leaves some squishiness. A lot of factors play into perceived recoil including grip / stock design, action type (fixed, blowback, delayed, recoil operated, gas operated), the shooter, etc. Still it's the best baseline I've found for recoil expectations without actually shooting a given gun and cartridge (which is always the acid test). I'm also sometimes too analytic :-)