Probably something like this where ID is your ObjectId. The first {} are necessary to identify your document. It is not required to use an ObjectId as long as you have another unique identifier in your collection.
db.collection.update(
{ "_id": ID, "playlists._id": "58"},
{ "$push":
{"playlists.$.musics":
{
"name": "test name",
"duration": "4.00"
}
}
}
)