Find coordinates of point in a different coordinate frame

Hi, I would like to know the easiest ROS way (tf, geometry_msgs or something of the sort) to get the coordinates of a point in another coordinate frame defined by a pose. Let's say, I have a point w coordinates x, y, z in a global frame and I have a pose of a local coordinate frame wrt the same global frame in the form of a geometry_msgs/Pose. Now how do I find x1, y1, z1 which are the coordinates of that point in the local coordinate frame (given by that pose) Thank you.