An object's position as a function of time is given by r(t) = [-a/t, bt² + c, qt], where a, b, c, and q are constants with values a = 2.0 m/s, b = 1.0 m/s², c = 5.0 m, and q = 2.0 m/s. Calculate the components of this object's instantaneous velocity at time t = 2.0 s.