There are a lot of barriers that keep people from  physical and mental disabilities, history of welfare dependency and lack of education or self-esteem.
( There ( ( are ( ( a lot ) ( of ( barriers ( that ( keep ( ( ( ( ( people ( from ( physical ( and ( mental disabilities ) ) ) ) ) , ) ( history ( of ( welfare dependency ) ) ) ) and ) ( lack ( of ( ( education or ) self-esteem ) ) ) ) ) ) ) ) ) ) . ) )
(ROOT (S (NP (EX There)) (VP (VBP are) (NP (NP (DT a) (NN lot)) (PP (IN of) (NP (NP (NNS barriers)) (SBAR (WHNP (WDT that)) (S (VP (VBP keep) (NP (NP (NP (NNS people)) (PP (IN from) (NP (JJ physical) (CC and) (JJ mental) (NNS disabilities)))) (, ,) (NP (NP (NN history)) (PP (IN of) (NP (NN welfare) (NNS dependency)))) (CC and) (NP (NP (NN lack)) (PP (IN of) (NP (NN education) (CC or) (NN self-esteem)))))))))))) (. .)))
There are no barriers for this.
( There ( ( are ( ( no barriers ) ( for this ) ) ) . ) )
(ROOT (S (NP (EX There)) (VP (VBP are) (NP (NP (DT no) (NNS barriers)) (PP (IN for) (NP (DT this))))) (. .)))