Targ S.M. 1989 K2 variant 24

The mechanism consists of stepped wheels meshed or connected by a belt drive, a gear rack 4 and a weight 5 tied to the end of a thread wound on the bottom of the wheels. Determine the speed and acceleration at time t=2s.
Given: φ₃=3t-t²; R₁=4 cm; r₁=2 cm; R₂=8 cm; r₂=6 cm; R₃=12 cm; r₃=12 cm; Find: V₄; ω₁; ε₁;aв; a₅;