"Firmly believing that Google had ripped off Apple's OS"
They did rip-off Apple's OS. Chris De Salvo, a senior engineer in Android is quoted as saying, when the IPhone is released "we are going to have to start over." at that point Android looked like Blackberry OS. They quickly changed it to incorporate mutli-touch navigation paradigms similar to the iPhone.
Now whether they criminally ripped off Apple's OS. That's another matter and no, despite Steve Job's ire, they did not.