Answer:
We will use the conservation of energy. For all the objects the following is true:

The moment of inertia for the objects are

So, the energy equations for the sphere are

The energy equations for the cylinder are

The energy equations for the pipe are

The sphere has the highest velocity at the bottom. Therefore, it arrives the bottom first. Then the cylinder, and the pipe arrives the last.
Step-by-step explanation:
Since all the objects has the same mass and initial potential energy, their final kinetic energy at the bottom is the same as well. Therefore, the object with the lowest moment of inertia will have the highest velocity. By definition, the moment of inertia is the resistance to rotation. So, the object with the lowest resistance will have the highest velocity.