1. The problem statement, all variables and given/known data A cone rolls on a flat surface. The instantaneous axis of rotation lies parallel to the point where the cone touches the surface and the angular velocity OMEGA. The motion of the center of mass (Vcm) plus a rotation OMEGAcm about the center if mass. Describe this motion by finding Vcm and OMEGAcmin the laboratory (space) system. PLEASE HELP!! 2. Relevant equations 3. The attempt at a solution - i made the origin at the end of the cone (close side) - rotated about the x-axis. - got the matrix of the rotation about the x, so x' now, i dont know where to go OR if I did anything right Thanks!!!