The people experienced the rule of other nations as a yoke of slavery and a heavy burden. A yoke is a wooden bar placed on animals to control them. Here it describes harsh control and forced labor (Jeremiah 30:8).
the rod of their oppressor: In Isaiah 10:5, the Assyrians are called “the rod of [the Lord’s] anger.” This means God used Assyria to punish his people. But God’s anger would not last forever. When his anger ended, Assyria’s cruel rule over Judah would also end (Isaiah 14:5).
The Lord had destroyed the army of Midian through Gideon (see Judges 6:35; 7:22–25).