For the mechanism in the posture shown in Fig. P3.30, input crank 2 has an angular velocity

ω2 = 10 rad/s ccw, and there is rolling contact between links 5 and 6 at point F. Determine the first-order kinematic coefficients of links 3, 4, 5, and 6. Find the angular velocities of links 3, 4, 5, and 6, and the velocities of points E and G.