jmc

Call the center of the inscribed circle $C$, and let $D$ be the point shared by arc $AB$ and the inscribed circle. Let $E$ and $F$ be the points where the inscribed circle is tangent to $OA$ and $OB$ respectively. Since angles $CEO$, $CFO$, and $EOF$ are all right angles, angle $FCE$ is a right angle as well. Therefore, the measure of angle $DCE$ is $(360-90)/2=135$ degrees. By symmetry, angles $ECO$ and $FCO$ are congruent, so each measures 45 degrees. Therefore, angle $DCO$ measures $135+45=180$ degrees, which implies $DC+CO=OD$. Also, $DC=r$, and $CO=r\sqrt{2}$, since triangle $CEO$ is an isosceles right triangle. Since $OD$ is a radius of the circle centered at $O$, we may set $DC+CO=r+r\sqrt{2}$ equal to 3 cm to find $$r=\frac{3\text{ cm}}{\sqrt{2}+1}\cdot \frac{\sqrt{2}-1}{\sqrt{2}-1}=\boxed{3\sqrt{2}-3}\text{ centimeters}.$$