The easiest way is to design the experiment (select DOE > Custom Design) and use the built-in Power Analysis.
If you insist on using four levels of the continuous factor (time), then select Add Factor > Discrete Numeric. (Do not remove the higher order terms for time in the model.) The optimal design for a first-order model (i.e., straight line response) would require only two levels. The other factor should be categorical with two levels (e.g., A and B) for the comparison you want to make.
Add the interaction term to the model. This term is the basis for your test: if there is a difference in the slope between the groups (A versus B), then there will be a significant interaction effect.
Select the number of runs that you posit are sufficient for the desired power and then estimate the power. You must enter the significance level of the test, the standard deviation of the response, and the anticipated coefficient for the interaction term. This value is half the full effect of the continuous factor (difference between response at highest factor level and at the lowest level). It is an absolute value so you must convert your relative effect size (i.e., 10%) to the actual difference.
If the power is adequate, then you are finished. Click Make Table and collect your data. The Model table script will start the analysis when you have all your data.
If the power is not what you want, then adjust the number of runs. Add runs to increase the power, subtract runs if the power is too high and not economical.