For thou hast broken
chathath  (khaw-thath')
to prostrate; hence, to break down, either (literally) by violence, or (figuratively) by confusion and fear
the yoke
`ol  (ole)
a yoke (as imposed on the neck), literally or figuratively -- yoke.
of his burden
cobel  (so'-bel)
a load (figuratively) -- burden.
and the staff
matteh  (mat-teh')
rod, staff, tribe.
of his shoulder
shkem  (shek-em')
the neck (between the shoulders) as the place of burdens; figuratively, the spur of a hill -- back, consent, portion, shoulder.
the rod
shebet  (shay'-bet)
a scion, i.e. (literally) a stick (for punishing, writing, fighting, ruling, walking, etc.) or (figuratively) a clan -- correction, dart, rod, sceptre, staff, tribe.
of his oppressor
nagas  (naw-gas')
to drive (an animal, a workman, a debtor, an army); by implication, to tax, harass, tyrannize -- distress, driver, exact(-or), oppress(-or), raiser of taxes, taskmaster.
as in the day
yowm  (yome)
a day (as the warm hours),
of Midian
Midyan  (mid-yawn')
Midjan, a son of Abraham; also his country and (collectively) his descendants -- Midian, Midianite.