How Does the Jacobian Process Work in Kinematics?

clurt
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Hey guys,

Im studying for an exam and don't fully understand the jacobian process. Speciffically how you can differential the middle colum with respect to theta_3. Please view attached. So from step 1 to 2. Thanks.
 

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So r_2cos(theta_2) goes to -cos(theta_3)

How?
 

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