It is possible and not that difficult if you have the right equipment, but without the right equipment it is difficult.
When Acrylic is heated to the right temperature you can
mould it into virtually any shape you want, but after it has been shaped it will probably need annealing to prevent it from cracking at a later date.
5mm is relatively thin and so you may be able to get enough heat into it with an electric heat gun to be able to bend it. If you go to the homepage-
http://www.ultimatehandyman.co.uk
and then click on the acrylic link and then look for the link for the perspex workshop manual it will tell you more in there.
I'm not on my own pc and this one crashes when I open up another window and so I can't post the link from here
A hot cup of tea will not deform the acrylic
