If you treat this as a small angle harmonic oscillator. Newton's 2nd law is mgsinθ = mRd2θ/dt2 (F = ma) which is simplified to (θ~sinθ for small angles - here sin-1(2/10) = 11 degrees) . This leads to a typical simple harmonic motion solution:
Rθ'' = gθ or θ'' = (g/R)θ ω = sqrt(g/R) and T = 1/(2πω) = 2πsqrt(R/g)
T is the period or the time to return to the initial position.