 Quote by sorax123
My textbook defines centre of mass as "the point through which a single force has no turning effect", which I have an intuitive grasp of. However, it then goes on to talk about how something will topple if the centre of MASS lies outside the base. But in previous studies, the reason for toppling was given as the line of action of weight lying outside the base.
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If something is toppled, it must have been standing to begin with (at least that's how I interpret the english) and therefore is being supported by a normal force that may not be acting on the CM.
note: I know this doesn't address difference between CG and CM, but I don't think that is an integral part of your confusion. My apologies if I'm wrong.