The only way to purely rotate a rigid body about its center of mass is to apply a pure torque (no net force). If the net force applied is zero then the center of mass is not accelerating.
However and combination of translation and rotation of the center of mass can be viewed as a pure rotation about the instant center of rotation. So to effectively answer your question, a force not through the center of mass will rotate the body about a specified point.
For planar case see: https://physics.stackexchange.com/a/86996/392
The point of rotation A is defined by the distance $x$ as
$$x = \frac{I_{cm}}{m \ell}$$
If you want to go a little deeper then see: https://physics.stackexchange.com/a/81078/392
Note that these two statements are equivalent:
- A pure force thorugh the center of gravity (with no net torque) will
purely translate a rigid body (any point on the body).
- A pure torque
any point on the body (with no net force) will purely rotate a rigid
body about its center of gravity