How do I calculate Angular Velocity pass into SetPhysicsAngularVelocity?

Development World Creation
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3

FQuat Orientation = GetComponentQuat();
FQuat DeltaQ = OldOrientation.Inverse() * Orientation;
FVector Axis;
float Angle;
DeltaQ.ToAxisAndAngle(Axis, Angle);
Angle = FMath::RadiansToDegrees(Angle);
AngularVelocity = Orientation.RotateVector((Axis * Angle) / DeltaTime);
OldOrientation = Orientation;

This took way longer than it should have to trial and error out.