Gantt Chart for above problem looks like :
Waiting Time $=$ Completion time $-$ Arrival time $-$ Burst Time
$\sum AT = 0 + 5 + 12 + 2 + 9 = 28$
$\sum BT = 11 + 28+ 2 + 10 + 16 = 67$
$\sum CT = 67 + 51 + 49 + 40 + 33 = 240$
Waiting time $ = 240 - 28 - 67 = 145$
Average Waiting Time $ = \frac{145}{5} = 29$ msec.