No, as Clanad says the Earth's rotation period is slowing.
In the Devonian period (400 million years ago) the day was 22 hours long.
We know this from studying fossil corals that lay down a daily growth ring
http://www.sepaq.com/pq/mig/miguasha/mig-en/a_ devonian_day.html
The main culprit in our Planet is the moon causing tides that lose energy through friction with the bottom of the sea.
In theory you can have perpetual motion in a totally isolated spinning system in space
"You can't have perpetual motion" is really just sloppy shorthand for saying you can't 'manufacture' energy.