Block Diagrams

Determine the transfer function from $U(s)$ to $Y(s)$ for the following block diagram. Provided are some recommended steps to take:

a$.$ Label each signal $($line with arrow$)$

b$.$ Write the equation for each block individually. Similarly, write the equation for each summer individually.

c$.$ Solve all $($algebraic$)$ equations to get the transfer function, formatting it to fill out the boxes below:

$|)/(|s^3+s^2+s+|)$