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\begin{document}
\begin{equation*}
  J_h = \begin{bmatrix}
    B_{c_1}^T \operatorname{Ad}_{g_{s_1 c_1}}^{-1} 
      J_{s_1 f_1}^s(\theta_{f_1}) & & 0 \\
    &\ddots& \\
    0 & & B_{c_k}^T \operatorname{Ad}_{g_{s_k c_k}}^{-1} 
      J_{s_k f_k}^s(\theta_{f_k}) 
  \end{bmatrix},
\end{equation*}
\end{document}