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)))))))))))) (. .)))
A lot of barriers exist, that keep people from physical and mental disabilities, history of welfare dependency and lack of self-esteem or education.
( ( ( A lot ) ( of barriers ) ) ( ( ( exist , ) ( that ( keep ( ( ( ( ( people ( from ( physical ( and ( mental disabilities ) ) ) ) ) , ) ( history ( of ( welfare dependency ) ) ) ) and ) ( lack ( of ( ( self-esteem or ) education ) ) ) ) ) ) ) . ) )
(ROOT (S (NP (NP (DT A) (NN lot)) (PP (IN of) (NP (NNS barriers)))) (VP (VBP exist) (, ,) (S (NP (DT that)) (VP (VB 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 self-esteem) (CC or) (NN education)))))))) (. .)))