I once walked into a test on differential equations that asked for the "linearization" of a non-linear de and I had no idea what "linearization" meant! Turns out it's easy.
You have
r_1= \sqrt{(c cos(\theta)- x)^2+ (y- c sin(\theta)^2}
r_2= \sqrt{(c cos(\theta)+ x)^2+ (y+ c sin(\theta)^2}
and you say that c and y are constant. So you want linear functions for r1 and r2 in terms of x and \theta. You don't really need the full "Taylor's series", you just need the tangent line equations (which are the order one Taylor's Polynomials).
In general, if r= f(x, \theta), then the "tangent plane" approximation, about x= 0, \theta= 0, is given by
r= f(0,0)+ \frac{\partial f}{\partial x}(0,0) x+ \frac{\partial f}{\partial \theta}(0,0)\theta
Find the partial derivatives of your functions and plug into that.