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Mass at the tip, long sturdy shaft, feathers at the bottom.
So actually you want COM high, and COL low. Obviously COT should always be at the very bottom, In the same way that a bow string sends the arrow flying from behind. Add lot's of fins/aero surfaces to the rear of your rocket to help stability in flight.
No problem.
Also, going too fast too early can cause flipping in some cases. So try not to be launching off at insane TWR's.
Reaction wheels never hurt either. Even if you just add them to an early stage you'll discard, they aren't that expensive.
Just attach some boosters higher up. It won't be great for the decoupling safety, but is perfectly doable. Decoupling may be solved with spinning - centrifugal forces.
Flipping happens mostlly due to either flat nose or light payload. Low density to be more accurate - large in size (high drag and distance from the main mass) yet light. Design them intelligent.
no screenshots in 2017...