R. Kelly associate admits he torched one of the singer’s accuser’s car in Florida

An associate of R&B star R. Kelly admitted in court Monday that he travelled to one of the disgraced singer’s accuser’s homes in Florida and set her car on fire.

Michael Williams, 38, a relative of a former publicist for the “I Believe I can Fly” singer, pleaded guilty to an arson charge in Brooklyn Federal Court, admitting to Judge Ann Donnelly that he, “deliberately set a car on fire in someone’s driveway.”

Williams’ affiliation with R. Kelly, whose real name is Robert Sylvester Kelly, 54, was not discussed during the court appearance.

Kelly’s racketeering trial is set to take place in Brooklyn Federal Court in July, and the woman whose car was burned by Williams will be one of the witnesses, according to a law enforcement source.

Kelly is accused of heading an enterprise that trafficked women and underage girls who would come to his shows.

He allegedly forced the girls to call him “Daddy,” and did not let them leave their rooms or eat without his permission.

Williams will be sentenced on Oct. 5 and faces up to 71 months in prison.