Okay this is a bit messy, but it's the best I came up with. Say we define f(x)= 3sinx - xcosx, and we want to show f(x)<2x. Well, we see that at least the endpoints are all right [ f(0)=0 (okay since we don't actually consider 0), f(pi/2)=3 < pi ]. So if we can just show that the function never goes over the line 2x, we're done. Well, if we differentiate both sides, we can equivalently show that f '(x) < 2. Simply doing the differentiation gives us f '(x) = 2cosx-xsinx. We again check that the end points are okay: f '(0)= 2 (okay), f '(pi/2) = pi/2<2 (also okay). Now we need to show that f '(x) doesn't become greater than 2 (this is actually too strict, but we can anyway). So we calculate f ''(x) = x cos x-sinx and want to show that this is always negative. Well, at x=0 we have f ''(0) =0, so that's good. Now we go even further and find f '''(x) = -xsinx. This is obviously negative, which means that f ''(x) is also negative. This in turn means that f '(x) < 2, which means that f(x)<2x.
I hope you follow my train of thoughts. You just go deeper and deeper in the derivatives until you see something you know, and then go back up.