There is no simple command to get the time in seconds since a file was modified, but you can compute it from two pieces:
date +%s: the current time in seconds since the Epochdate -r path/to/file +%s: the last modification time of the specified file in seconds since the Epoch
Use these values, you can apply simple Bash arithmetic:
lastModificationSeconds=$(date -r path/to/file +%s)
currentSeconds=$(date +%s)
((elapsedSeconds = currentSeconds - lastModificationSeconds))
You could also compute and print the elapsed seconds directly without temporary variables:
echo $(($(date +%s) - $(date -r path/to/file +%s)))