To find root 5 bar chords easily, it is essential to know the notes on the 5th string from memory. The following diagram illustrates all notes on the fifth string up to the 13th fret. Try naming a chord and moving to the correct fret. Practice this until you can do it without hesitating or having to think ahead.
Here is an example which makes use of root 5 bar chords. Notice the use of percussive strumming here.