Question

Jumping into a truck he saw the theif escape (rewrite removing the mismatching)

Answer 1

Jumping from the truck, he saw the thief escaping.

Hope that helps ☺☺

Answer 2

The sentence " Jumping into a truck he saw the thief escape " has confounded anyone. If we rewrite removing the mismatching then answer is as below :

He saw the thief escaped jumping into a truck.

'Escape' is a verb and the sentence is in past tense, So, it changed into 'escaped'. Hence, the whole sentence is understandable.