For the mechanism in the posture shown, the radius of the wheel (link 5) is rolling on the circular ground link. Determine the first-order kinematic coefficients of the mechanism. If the input link has a constant velocity of VA2 = 5i m/s, determine the angular velocities of links 3, 4, and 5.

Figure P3.56 RBO4 = 120 mm, RCO4 = 180 mm, RBA = 120 mm, and ρ5 = 20 mm.