Code for the Example

#VRML V2.0 utf8

Transform {
 translation 2 0 0   #translates 2 units in the + x direction
 children Shape{
  appearance Appearance {
   material Material {}
  }
  geometry Sphere{
   radius 1          #Sphere of radius 1
  }
 }
}

Transform {
 rotation 0 0 1 1.57  # z-axis by 90 deg
 children Shape{
  appearance Appearance {
   material Material {}
  }
  geometry Cylinder{   
    height 2
    radius 1
  }
 }
}