Isaiah 1:3, Amplified : "The ox [instinctively] knows his owner, and the donkey his master's crib, but Israel does not know or recognize Me [as Lord], My people do not consider or understand." (NIV) (TM)
The Amplified bible tells us that the flavor of "knows" is "instinctive," meaning automatic. So, the ox automatically knows his owner. This echoes Jesus in John 10:14, "I know my sheep and my sheep know me." This is the natural order of things. Jesus walks in, and you just know it. You recognize him in some natural/supernatural way, because he's the one who made you. If you're open in any way, you get it.
The Amplified says that the donkey knows his master's crib, the NIV says his owner's manger. The message is the same: the donkey knows his place is what the master has provided. The correct order of things is to know where you belong.
If you don't have the willingness to have this type of recognition, then you're in rebellion. The Lord is saying that this is as easy as pie, but his people Israel just don't get it, and the idea is that they choose to be this way. Look at the Amplified for Isaiah 1:4.
” Ah, sinful nation, a people loaded with iniquity, offspring of evildoers, sons who deal corruptly! They have forsaken the Lord, they have despised and shown contempt and provoked the Holy One of Israel to anger, they have become utterly estranged (alienated)." (NIV) (TM)