Prussia first came about as a ressult of the baltic crusades, the German knights (teutonic order) annexed a large territory in the baltic and ran a hard conversion policy. After some years almost all traces of the native baltic languages in terretory occupied by the teutons dissapeared and german became the dominant language.
The germanized baltic territory bacame known as Prußen and in 1525 the baltic territory was occuped and annexed by the Polish-Lithuanian commonwealth and the hochmeisters of the former crusader orders was disbanded and the hochmeister took an duke title instead, The hochmeister was from the german house of Hohenzollern who was also the Electorate of Brandenburg. Brandenburg always had this in mind and inorder to keep their family in charge of the Prussian terretory in Poland they often took a pro polish side in things. There are a few times when they made some anti polish political moves like allowing Maria Eleonora to marry the Swedish king Gustavus Adolphus. who at this time was at war with his unkle Sigismund III Vasa of Poland, who had not formaly recognized Gustavus as the king of Sweden.
With the end of the times of trubble in Russia and the rise of the Romanov dynasty russia who was often so unstable to mount a threat to it's neighbours became much more powerful. So poland was now almost constantly at war with either the Turks in the south, Russians in the east and Sweden in the north. This was a evil spiral that made poland super weak in the 1740's when Frederik II came in to power in Brandenburg.
Frederik hated poles and refered to them as "slovenly Polish trash" and with a weak poland Frederik took his opportunity to start Campaign to liberate the prussian territory from polish rule.