There are MANY indications that they're lying:
1) This stunt was publicized in advance by MTV, in an article entitled Janet Jackson's Super Bowl Show Promises 'Shocking Moments'
2) Matt Drudge has a source who tells us, "The decision to go forward went to the very top of the [CBS] network."
3) The video clearly shows that the exposure of Ms. Jackson's breast was fully choreographed with the last line of the song: "I'll get you naked by the end of this song."
4) In the video, Jackson very much appears to be deliberately positioning herself for the stunt. A split second before, she was waving her hands in front of her and dancing with her feet. When Timberlank reaches her side, she drops her hands and stands there absolutely still, waiting, while he slowly moves his hand across her chest to the far side of her breast. It is obviously a pre-arranged move, agreed upon by Jackson.
5) The video shows that Justin Timberlake's ripping off Jackson's breast-covering was an entirely deliberate action: he walks up, "stops" her, then his hand moves smoothly and deliberately into position, and then rips the covering off in a smooth, sharp motion.
6) The backward motion is smooth, and Janet Jackson was not pulled sideways at all by any resistance of fabric, indicating that the cup was specifically designed to come off quite easily.
7) The separation of the cup from the costume is clean and complete - if the cup were not designed to be easily and completely removed, it would merely have been torn and left dangling. Instead, we can't see even a dangling thread.
8) Jackson's hands go up, but only to her waist. This is not likely the action of a woman who has unexpectedly had her breast exposed in public. Such a woman would far more likely move to immediately cover her breast.
9) Jackson has her nipple at least mostly covered by the star, not likely a comfortable thing to wear while dancing on stage. The obvious usefulness of this is to prevent the full, obvious public exposure of her nipple.
I don't live in Houston, and my small children who tuned into the show with me missed the performance literally by seconds, so I probably shouldn't be the person to complain. But somebody, in my opinion, should file a formal complaint with the Houston police and demand that Jackson and Timberlake be charged in accordance with that city's laws, citing the specific points above in writing as evidence that the law was deliberately broken. Any takers?