Draft: Change Central Differences Jacobian implementation

Don't use product rule in the computation of the residuum derivative.

The former implementation is using product rule for derivatives (M\cdot\dot{x})' and (K\cdot x)' using the product rule, which is not fully correct; Correct derivatives for finite differences would be M'\cdot \dot{x} + M\cdot \dot{x}' + M'\cdot \dot{x}'. The last term is missing in the implementation.

The new implementation does not use the product rule avoiding the mistake.

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