There's essentially zero difference between what you describe, BW, with a single engine firing off-center, and what RCS thrusters are.
The main difference is that with RCS thrusters (assuming the simplest scenario where each pair of the 6 thrusters are located along a different XYZ axis), you usually have 2 firing in tandem, either together or in opposite directions. If both fire together, the object will change position, not orientation. But if, say, both thrusters situated along the same axis fire in directions opposing each other by 180 degrees, you get a change in orientation, not position.
So the question remains, if only ONE thruster fired, what would the result be? Logically, it would transfer half of the energy into rotational movement, and half into directional movement. Realistically, I haven't a clue.

Oh, and in a vacuum, the speed of the object does not affect the rotational movement at all. Also, if you had 2 objects travelling at the same speed (say 1Kps), and your point of observation was one of those objects, than the resultant position/orientation changes in the other object - relative to the 1st object - will be identical to what they would be were both objects at a standstill.
Wow, that turned into quite an essay...