Finding Vout exactly when Vg=0 is tricky. To do it requires knowledge of the transistors Vt. I'll do this point on the VTC curve for you with the assumption that the transistors are perfectly matched and assume that Vdd>Vt. You should be able to do the other points in the same way.
Since the top transistor has Vs=Vdd and Vg=0V, Vsg=Vdd>Vt, it is on. Because it is on current can pass from its source to drain.
If the bottom transistor were off then it would allow no current from source to drain. Current would flow through the upper until Vs=Vd on it. But this would make the lower's Vsg=Vdd>Vt, which would make it on as well. This is a contradiction so the initial assumption was wrong and both the lower and upper are on.
On the lower, Vg=Vd=0V, Vs=Vout and Vt>0. Thus Vsd=Vsg and Vsd < Vgs - Vt is not met. The lower is therefore on & linear.
For the upper Vs=Vdd, Vg=0V, Vd=Vout. So Vsg=Vdd and Vsd=Vdd-Vout. Since Vout>Vt (see the argument above) the upper is on & saturated.
Now its just KCL at Vout. Isd(upper)=Isd(lower).
Using mathematica:
Simplify[Solve[ K ((vdd - vt) (vdd - vout) - (vdd - vout)^2/2)==K/2 (vout - vt)^2 ,vout]]
Which yields:
[tex]\left\{\left\{\text{vout}\to -\frac{\sqrt{(\text{vdd}-\text{vt})^2}}{\sqrt{2}}+\text{vt}\right\},\left\{\text{vout}\to \frac{\sqrt{(\text{vdd}-\text{vt})^2}}{\sqrt{2}}+\text{vt}\right\}\right\}[/tex]
And if I use vdd=3.3 and vt=1.7 (from the BSS84) I get vout=2.83V which matches pretty closely to the spice value of 2.86V.