Start with a diagram.
We're going to need to find an angle so we can find which part of the arc of the circle is above this height.
Radius = 35/2 = 17.5
Height from center = 27 - 2 - 17.5 = 7.5, which will be the adjacent side of our angle θ.
θ = cos-1 (7.5/17.5) = 64.6°
2θ = 129.2° (for the right and left of center portions)
Now we find the fraction of the 6 minute rotation proportional to the angle.
6 minutes * 129.2/360 = 2.15 minutes or 2:09.