Targ S.M. 1989 K2 variant 06

The mechanism consists of stepped wheels engaged or connected by a belt drive, a toothed 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 the time t = 2s.
Given: V₄ = 2 * (t³-3t); R₁ = 4 cm; r₁ = 2 cm; R₂ = 8 cm; r₂ = 6 cm; R₃ = 12 cm; r₃ = 12 cm; Find: V₄; ω₁; ε₁; ac; a₅;