A decimal number is simply a way of representing a number in such a way that the place value of each digit is ten times that of the digit to its right. It may or may not contain a fractional part. If not, the decimal representation does not require a decimal point. So the decimal for 20 ms is 20 ms. If you want it as a decimal fraction of some other quantity then you need to specify that second quantity.
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20/100 as a decimal is 0.20
To write 20 hundredths in decimal form, you would simply write it as 0.20. The number 20 hundredths means 20 out of 100 parts, which is equivalent to 0.20 as a decimal. The zero before the decimal point is necessary to indicate that there are no whole numbers present.
17/20 written as a decimal is 0.85
20/100 written as a decimal is 0.2 or 0.20
0.2