Best way to do it without a computer is to weigh and measure each individual part before it gets glued up.
So for a table you would have a minimum of: table top, 4 aprons, 4 legs. The center of gravity of each piece is the center of volume essentially. The way to find out overall center of gravity is to take each pieces weight and multiply it by the distance of the pieces center to the floor (for vertical center). Add up all of these numbers and divide by the total weight.
Say your top is 5lbs, each apron is 2 lbs, each leg is 1lb. Table is 30" tall with a 2" thick top and 4" aprons. So the top vertical sum would be 5lbx29" (30" minus half the thickness) = 145. Aprons is 2lbx26" (30" minus 2" top, minus half apron thickness of 4") = 52Ă—4 aprons = 208. Legs are 1lbx14" (30" minus 2" top, divide in half for leg) = 14Ă—4 legs = 56. Overall vertical moment is 145+208+56=409. Total weight of 5lb+4Ă—2lb+4Ă—1lb = 17lb. 409/17lb = 24.05" vertical center of gravity.