3.834 m/s.
In this problem we need to have a centripetal force that is at least as great as the gravitational attraction the object has. The equation for centripetal force is
F = mv^2/r
and the equation for gravitational attraction is
F = ma
Since m is the same in both cases, we can cancel it out and then set the equations equal to each other, so
a = v^2/r
Substitute the known values (radius is diameter/2) and solve for v
9.8 m/s^2 <= v^2/1.5 m
14.7 m^2/s^2 <= v^2
3.834057903 m/s <= v
So the minimum velocity needed is 3.834 m/s.