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General Information:
Yahweh continues to speak to the Israelites.
I will break the yoke off your neck, and I will shatter your chains
Being a slave is spoken of as wearing a yoke like an animal and wearing chains like a prisoner. (See: rc://en/ta/man/translate/figs-metaphor)
they will worship Yahweh their God ... their king ... over them
Yahweh continues speaking about the descendants of Jacob. AT: "you will worship Yahweh your God ... your king ... over you" (See: rc://en/ta/man/translate/figs-123person)
David their king
This is a metonym for one of David's descendants. AT: "a man descended from their King David" (See: rc://en/ta/man/translate/figs-metonymy)