You need to know your frame rate (probably 24 or 30 frames a second). If you want 1 rotation on the x axis in a second, set x rotation to 0 degrees at frame 0 and 360 degrees on frame 24. You can be in either radians or degrees just make sure you know which you are using and set the values accordingly. This works the same for all the axises. 2 rotations is 720 degrees in 24 frames etc. Hope this helped.
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