With the following setup you can cause the pipe to move slowly in the same way that it moves while spinning freely.
|Drive a thin nail partially into a 4"x4" block of wood leaving about 3/4 inch sticking up.||Cut two short pieces of 1" OD PVC pipe. Plug a cork into one end of each pipe. Connect the pipes with an on-center needle, leaving an 1/8" gap between the pipes.||Press down on the "O" end of the cylinder and roll it forward against the nail, keeping the end nearest the O from slipping on the wood. Notice the velocity of the X and the O with respect to the block of wood as they rotate to the top.|
Additional food for thought:
Why does the pipe, after bouncing around a bit, end up spinning in one place, with one end rolling on the table without slipping?