It will take around 16 hours for satin finish paint to dry if applied at a room temperature. However, this time might increase if there is poor ventilation, low temperatures, thick films and high humidity.
Look on the can the paint came in. All paints are different. The manufacturer always specifies drying times based on ambient temperature and relative humidity. With that said, books placed on freshly painted bookshelves are notorious for sticking, so I would take the directions on the can into consideration and then pad the length of drying time by a few hours.