Let the mass of solid cylinder is M and angle with vertical is θ. Now, we take a small element of thickness dy at a distance y from the vertex. The radius of small element is r, as shown in the figure below.

Then, tanθ=hR=yr which will give, r=ytanθ. The density of the cone is given by,
ρ=(31)πR2hM=πR2h3M.
The mass of the small element is given by,
dM=ρdV
dM=πR2h3M×πr2dy=R2h3My2tan2θdy
The center of mass of the cone is given by,
z0=M1∫0hydM
z0=M1∫0hy⋅R2h3My2tan2θdy
z0=R2h3(hR)2[4y4]0h
z0=43h.