Yes indeed, Warren played with Zappa from 1976 to 1980.
He is on Joe's Garage.
http://en.wikipedia.org/wiki/Warren_Cuccurullo#1976.E2.80.931980:_The_Zappa_years
In his teen years, Cuccurullo became a devoted fan of Frank Zappa and began traveling to every show within 500 miles of his Brooklyn home. During the mid-1970s, he befriended several members of Zappa's band, including
Terry Bozzio and
Patrick O'Hearn. Over the next three years, he appeared with the band on stage at a couple of shows as well as in the 1979 Zappa film
Baby Snakes (filmed October, 1977). He impressed Frank Zappa by knowing the guitar parts to
every Zappa song in the catalog, including the strangest sounds and most bizarre time signatures.
[1]
In December 1978, at the age of 22, Cuccurullo was invited to audition as a guitarist for Zappa's new road band, in which many members were replaced (including Bozzio and O'Hearn). Several shows on the early 1979 "Human Jukebox" European/Asian tour were recorded for Zappa's live albums. After the tour, Cuccurullo returned to the studio with Zappa to work on the
Joe's Garage albums, for which he provided rhythm guitar and several vocal parts. Terry Bozzio's wife
Dale Bozzio also contributed vocal parts to the album. Cuccurullo and Dale Bozzio began writing songs together, and eventually they convinced Terry Bozzio that the three of them should launch their own band.
Zappa asked Cuccurullo to play on his 1988 tour, but the latter's involvement with Duran Duran had begun by then and so he declined.
Cuccurullo is name-checked four times on Zappa's
Joe's Garage, first by (Dale Bozzio's character) Mary in "Catholic Girls", by Zappa (in character here as Larry) in "Crew Slut", when reassuring Mary, "of
course I'll introduce you to Warren!", in the track "Sy Borg" when Ike Willis sings "little leather cap and trousers -- they look so gay... Warren just bought some," and once again by Zappa during "Little Green Rosetta" 'Then everybody moves to New York and goes to a party with Warren. hey!'