Retirement tax questions

So if I had original 2k of contributions in my roth ira, then rolled over 27k of contributions  from roth 401k plus 16k of earnings for a total of 33k in total rollover value. Does that mean even if I'm not 59.5 and the account is not 5 years old I can pull up to 29k with no penalties or taxes as those contributions were after taxes? Or what applies to the 29k im still unclear...