Setting physics angular every frame would be quite awkward (see tooltip) and, most likely, defeat the purpose if you:
would like to keep the possibility of having other collisions
Whatever collisions occur, we’d override the angular in the consecutive frame anyway…
Could you explain briefly what the purpose of this is? At a glance it seems that you what you want is to point the Pint towards the target over time, using physics. Maybe what you need is Torque - hard to advise without knowing more? But this does not seem like the way to go unless you’re up to something truly uncanny.
By setting velocities you, kind of, throw away what the physics engine is actually doing.