Targ S.M. 1989 K2 variant 26

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 см; r₁=2 см; R₂=8 см; r₂=6 см; R₃=12 см; r₃=12 см; Найти: V₄; ω₁; ε₁;ac; a₅;