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Jacobs pulled a muscle above his groin early on but continued batting and in the process helped Shivnarine Chanderpaul hit the third-fastest century in Test history before he completed an unbeaten 54.
Jacobs and Chanderpaul's stand also pulled West Indies to 237 all out after being 53-5 when they came together.
The 34-year-old Jacobs, who said afterwards that he could not bend his left knee because of the injury, needed a runner and spent most of his innings hopping around on one leg after every shot. Wavell Hinds took his place behind the wicket when Australia batted.
``When you get selected to play, you want to give everything for the countries of the West Indies,'' Jacobs told reporters.
``I saw Shivnarine was playing very well and I realised I had to stay there as long as possible. I just wanted to help him make some runs.''
``We will have to see what happens in the next couple of days. I'm really pleased I got some runs today.''
Meanwhile, Chanderpaul said he felt the century, his seventh in Tests, was his best innings in Test cricket.
``I was playing against the best team in the world and I was playing at home,'' the 28-year-old said.
``They make you work hard for everything you get, every run you have to work for and this just inspires you to play your best cricket.
``I felt I had to score runs quickly on this pitch because there's always a danger of losing a wicket.
Australia captain Steve Waugh, who set a world record of 157 Test appearances when he took the field, said he had kept the milestone at the back of his mind.
``I don't think you can get too emotional in cricket, you have to keep your concentration and today I just wanted to make sure we played good cricket,'' he said.
He admitted that he had plenty to think about following the decision to field five bowlers.
``We want to try and give everyone an opportunity, it's something new for me to have five bowlers but I'm getting used to it.
``It's always good to try different things, I thought it was the right thing to try and the selectors agreed.''