Let μ be the coefficient of friction, ω be the angular speed and α the angular acceleration. Consider a torque of force of friction:
τf=μmg⋅R, and according to Newton's second law for rotational motion, the net torque is
τnet=mR2α=mR2⋅tω−ω/2, equate them:
μmg⋅R=mR2⋅2tω,
t=2μgωR.
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