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In therapsids (mammal ancestors and their kin), the lower jaw is made up of the dentary (the mandible in mammals) and a group of smaller "postdentary" bones near the jaw joint. As the dentary increased in size over million of years, two of these postdentary bones, the articular and angular, became increasingly reduced and the dentary eventually made direct contact with the upper jaw. These postdentary bones, even before their articular function was lost, probably transmitted sound vibrations to the stapes and, in some therapsids, a bent plate that might have supported a membrane capable of detecting vibrations developed on the angular. Eventually, it developed into the ectotympanic ring which supports the tympanic membrane in the ears of modern mammals.
References
Myers, Phil. "Jaws and Ears". Animal Diversity Web. Retrieved 29 March 2013.