How to set the correct angular velocity for an object, knowing how long it will take to stop?

Question

C++ / C#

Everything is as simple as possible: in the inspector we set the rotation time of the object t, then using AddRelativeTorque we set the rotation speed (the question is how to calculate it), caroutine starts and after t seconds when the object has already stopped, we change its movement.

Answer 1

Empirically construct the dependence of time on rotation. And this is if the body does not act except for static friction.