Why does it say "Osecha"?
Radak #1: This is like "Asher Asah Es Moshe v'Es Aharon" (Shmuel I, 12:6). He elevated them and taught them.
Radak #2: This is like Bora'acha.
Malbim: Refer to 44:2:2:3.
What is "Yotzercha mi'Beten"?
Radak citing Ibn Ezra: This hints to Yakov, like "Ba'Beten Akav Es Achiv" (Hoshe'a 12:4). He is the One who formed Yakov in the womb with strength, that he held Esav's heel, unlike other fetuses that do not stick their hands out of the Shilya (fetal sac, i.e. placenta). All the more so it does not grab with its hand! This was a miracle. The One who was with your father in the womb, He will be with you in Galus, a narrow place like the womb is for the fetus.
Radak: This is like Bora'acha. It says mi'Beten, for when the baby comes out of the womb, they enter him into Kel's Bris, and circumcise him promptly on day eight.
Malbim: The Yotzer makes the form; the Oseh finishes the matter. Not only did He make you and finish you - He also formed you.
What is the meaning of "Yazreka Al Tira"?
Radak: He will help you, and he tells you not to fear.
Malbim: He helps you from the day that you left the womb 1 , and constantly supervises over you. It compares the birth of the nation in Egypt, that there He formed it, raised it and brought it to perfection at the time of Matan Torah; there, He made it. Afterwards, He supervised all its needs in Eretz Yisrael - ha'Lo Hu Avicha Kanecha" (Devarim 32:6; this corresponds to Yotzercha} "Hu Ascha va'Ychonanecha" (ibid., corresponds to Osecha).
Malbim connects Yazreka to the previous word mi'Beten. The Trup (notes) imply that mi'Beten is connected to Yotzercha! Perhaps Malbim holds that it is expounded in both ways. (PF)
What is "Yeshurun"?
Radak: It is known that this is Yisrael. He is called so, because he is Yashar (straight) among the nations.
