For the following epicyclic gear train below, gear 2 has a radius of 12 cm, gear 3 has a radius of 6 cm, and gear 4 has a radius of 15 cm. If the input rotational velocity of shaft 1 is 201 rad/s and the input rotational velocity of shaft 2 is 152 rad/s, then what is the output rotational velocity of shaft 5 in rad/s?