For the mechanism in the posture shown in Fig. P2.16, 2 = 1 in, 5 = 2

For the mechanism in the posture shown in Fig. P2.16, ρ2 = 1 in, ρ5 = 2 in, RBA = 7.071 in, and RBC = 6 in. Determine the first-order kinematic coefficients of links 3, 4, and 5. If link 2 is driven at ω2 = 5 rad/s ccw, determine the angular velocities of links 3, 4, and 5.