To find the center of mass (CM) in a 3D coordinate system, use the formula [sigma miri]/total mass for discrete particles, where mi is the mass and ri is the position vector. For continuous distributions, the CM is calculated using the triple integral [r*rho(r)dV]/total mass, with rho(r) representing the density at position r. The position vector r is defined in Cartesian coordinates as r = xi + yj + zk, where (x, y, z) are the coordinates of the point. This method applies universally, not just in Cartesian coordinates. Understanding these calculations is essential for accurately determining the center of mass in various applications.