calculating position using follower wheels

[Ether]

A certain robot with a 3 degree-of-freedom drivetrain (FWD, STR, RCW) is on a flat level floor. At time T=0, its center of geometry (CoG) is located at the origin of an XY coordinate system fixed with respect to the floor; it is facing 15 degrees clockwise from the +Y axis; and it has the the following robot-centric constant motions:

forward = 5 ft/s
strafe_right = 4 ft/sec
rotate_CW = 120 degrees/sec

Question 1: What are the coordinates 3 seconds later, and what direction is the robot facing?

Students, Mentors, engineers, and professors welcome.