Math help for a telescope project

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Hi, I'm working on making an automated telescope mount. I can do the math to translate azimuth and altitude to look at a certain set of point. I'm trying to figure out a way to then stay looking at that set of points over the course of say a night.
The telescope would have to slowly move az and alt to stay tracked onto an object, and I know it's somehow related to the speed the Earth rotates (or how many degrees a second it rotates maybe). I'm just not sure how to get the math for this or how to word it for searching. Any help would be appreciated!