Often the jargon is unavoidable because "common sense" definitions are actually subtly incorrect. This does not mean that examples and motivation have no place,

Often the jargon is unavoidable because "common sense" definitions are actually subtly incorrect. This does not mean that examples and motivation have no place, but there is definitely a chicken/egg problem and starting by stating definitions is an easy and expedient way to overcome it. Also, the best examples usually link seemingly disparate fields. If you can't assume the reader has a background in these fields, it can be difficult to even state the link. I sometimes find myself writing "readers unfamiliar with X can think of it as [intuitive but imprecise definition]".