@UtkarshJha sorry to be so slow replying - yesterday turned out to be a really busy day :-(
@UtkarshJha yes you are correct. We define a frame centred on our reference point, then we can define position vectors r and velocities v for other points. Then the angular velocity is defined by ω = r x v.
It may seem odd to take a point that isn't the axis of rotation, but mathematically it still works and the conservation laws still apply e.g. angular momentum is still conserved unless an external torque is acting.
@JohnRennie Thanks for replying :). Can you tell what is the answer to question (2)? I think that the frame fixed to the body should be one that is translating all the time (and which may be accelerating w.r.t. an inertial frame), because it is only then that we can see the position vector rotating about the point and measure omega.
@UtkarshJha well the frame is the rest frame of our reference point, so by definition it has the same velocity as the reference point. If the reference point is not in inertial motion then the frame is the inertial frame that has the same instantaneous velocity as the reference point.
Yes. This is what we mean by the instantaneous centre of rotation.
@JohnRennie but from last equation $(\frac{dx}{dt})^2=2(gxsin\theta-b\frac{x^2}{2}gcos\theta)$,I could find relation for $x$ and $t$ so as I got $x$ I could get $t$?