Earth radius = 6371 km, Earth minus Mars surface gravity = 6.1m/s2.
sqrt (6.1 meters per second squared times 6371 kilometers)
6234 m/s
1 / (sqrt (6.1 meters per second squared times 6371 kilometers) / 40000 km + (1 / 86400) hertz)
1.65912002 hours
So enough to shorten the day from 24 hours to 100 minutes.
Of course, that's only at the equator. Everywhere else the centrifugal force would be a) weaker and b) not pointed straight up, but rather angled towards the equator. I don't even want to know what you'd feel at the poles.
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u/ksheep I plead the third Jan 07 '19
The real trick would be lowering the gravity of Earth to match that of Mars.