Nodal Analysis by Inspection
[G1 + G2 -G2][v1] = [I1 - I2]
[-G2 G2 + G3][v2] [I2]
Where:
Gkk = Sum of the resistances in mesh k
Gkj = Gjk = Negative of the sum of the resistances in common with meshes k and j, k != j
vk = Unknown voltage at node k
ik = Sum of all independent current sources directly connected to node k, with currents