As you're looking at the bike from behind, your derailer pulleys are lined up 
slightly to the right of the center of each cog. In this position you'll get a 
clean shift to the left towards bigger cogs, but as it moves to the right 
towards smaller, the chain wants to skip too far right to the next smaller cog.

What you want to do is get the chain/derailer/pulleys under the middle cog, 
then adjust until everything is directly lined up, or possibly even slightly 
biased to the left. If your derailer has an adjuster thingy where the cable 
enters derailer, turn it counterclockwise to slightly budge those pulleys 
leftward. If not you'll need to mess with the cable anchor until you have 
things where you need them. 

Hopefully this all makes sense. Good luck!

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