[subject] + [time] + [verb] + [object] [time] + [subject] + [verb] + [object]
A time expression goes before the verb. It can sit after the subject or in front of the whole sentence, but never at the end.
After the subject is the default. Fronting the time puts weight on it – useful when contrasting one day with another.
When both appear, time comes first.
The verb does not change. 我去 covers "I go", "I went" and "I'll go" – the time word does the work, and once it is there, nothing else is needed.
A full time expression runs from the largest unit down: 明天下午三点.