It was suggested to add a link here to the question which is currently under Animation and Rigging:
https://blenderartists.org/t/how-to-animate-rigid-body-angular-motor-velocity-value/1141888
The gist is that I need to control the rigid body angular motor’s speed. I need this to change based on key frame, but so far it is an all or nothing (all frames one speed). See the above thread if you have an idea how to animate a rigid body motor’s speed.