The Gills were well beaten by a Forest side that finally lived up to their pre-season potential at Priestfield.
Cooper told his club's website: "It was a nightmare. I was obviously disappointed at today's performance.
"Too many players under performed and there were only pass marks for one or two of them."
Home striker Darren Byfield was impressed with Forest, saying: "They are a team that could do well and I think they'll be somewhere up there at the end of the season."