Thank you so much!
Oh! So the ##\vec\omega## and ##\vec R## are cross-multiplied while the ##\vec v_{A}## is dot produced with itself? If that is the case, then
##\vec\omega## x ##\vec R = <r, 0, 0>## x ## <0, 0, \omega> = <0-0, -wr+0, 0-0> = <0, -wr, 0>##
Letting ##v_{cm}## = <a, b, 0>
##\vec...