Freeman Dyson figured out how to do that along time ago, he was more interested in speeding up rotation to disassemble a planet but the same method can be appli

Freeman Dyson figured out how to do that along time ago, he was more interested in speeding up rotation to disassemble a planet but the same method can be applied to set the rotation to a given speed. just build a planetary motor. encircle the earth with ferromagnetic coils, then fire asteroids (similarly banded) at the earth in a series of near misses the magnetic drag steals or imparts angular momentum depending on the direction of the asteroid relative to the earth.