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The study of MHD waves is important both for understanding heating in the solar atmosphere and for solar atmospheric seismology. The analytical investigation of wave mode properties in a cylinder is of particular interest in this domain, as many atmospheric structures can be modeled as such in a first approximation. We use linearized ideal MHD to study quasimodes (global modes that are damped through resonant absorption) with a frequency in the cusp continuum, in a straight cylinder with a circular base and an inhomogeneous layer at its boundary which separates two homogeneous plasma regions inside and outside. We are in particular interested in the damping of these modes, and shall hence try to determine their frequency as a function of background parameters. After linearizing the ideal MHD equations, we find solutions to the second-order differential equation for the perturbed total pressure in the inhomogeneous layer in the form of Frobenius series around the regular singular points that are the Alfvén and cusp resonant positions, as well as power series around regular points. By connecting these solutions appropriately through the inhomogeneous layer and with the solutions of the homogeneous regions inside and outside the cylinder, we derive a dispersion relation for the frequency of the eigenmodes of the system. From the dispersion relation, it is also possible to find the frequency of quasimodes even though they are not eigenmodes. As an example, we find the frequency of the slow surface sausage quasimode as a function of the inhomogeneous layer's width, for values of the longitudinal wavenumber relevant for photospheric conditions. The results were found to match well the results found in another paper which studied the resistive slow surface sausage eigenmode. We also discuss the perturbation profiles of the quasimode and the eigenfunctions of continuum modes.