[Jorge]

Jackson's performance shocked onlookers when Justin Timberlake — who was performing with her — pulled off a piece of Jackson's costume, revealing her right breast.

I missed the actual incident, but heard that the performance was getting a bit violent, with Justin spanking Janet before ripping her cloths off.

[visualops]

He didn't rip her clothes off, just the "cup", if you will. Actually, their performance was tame by most pop concert standards (a la Spears et al). They were mostly walking across the stage with some close moments with minor butt grabs. Nothing violent, in fact, it was pretty boring. I couldn't even make out most of the lyrics.
All in all, trash TV. spoiled a good game by detracting attention from the game.