Again, make your own exercises such as changing from one chord to another chord trying to keep the changes and picking fluid, the key is getting both the Left hand and Right hand working together. This of course is what finger mechanics is all about.
You will find that if you do all the exercises in this program it will happen for you automatically
Study the video below to see how to rest the hand & fingers on the strings of the guitar for picking
NOTE:
You do not have to rest the little finger on the body, but it does give stability
Most modern players rest the little finger on the body, and generally classical players do not
If you do rest the little finger on the guitar make sure it is always kept straight, do not bend it at all
VIDEO - Resting the hand on the strings