CLOTH is a very vague word. It could be a piece of clothing, something to dry dishes with, something that you're going to make into a shirt . . . we don't really know. It would be a good idea to be more specific. As to the other question:
In my opinion:
Cloth with a rare design (the article A is needed) = Any kind of cloth (which may not be rare at all) that has a design on it which IS rare.
Cloth of rare design. = A cloth which is manufactured in some way as to give it unusual features.