Peter Renz, an editor of Jacobs, called this theorem to my attention and mentioned that the proof that Jacobs gives in the Teacher's Guide uses transformational geometry. He asked if I could find a more elementary proof.
I struggled a bit with this, but finally came up a proof which I have posted at http://www.scribd.com/doc/98720253. I found the Geometer's Sketchpad computer program to be invaluable in helping me discovering geometric truths which I was able to prove and put together to create the proof.
If you are good at geometry, you may want to see if you can come up with a proof on your own.