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2x^{2}\left(5x+2\right)-\left(5x+2\right)
Do the grouping 10x^{3}+4x^{2}-5x-2=\left(10x^{3}+4x^{2}\right)+\left(-5x-2\right), and factor out 2x^{2} in the first and -1 in the second group.
\left(5x+2\right)\left(2x^{2}-1\right)
Factor out common term 5x+2 by using distributive property. Polynomial 2x^{2}-1 is not factored since it does not have any rational roots.