Yes, sounds like it may qualify as an "emergency." An emergency will allow you to make a withdrawal, still subject to tax, but without the 10% early withdrawal penalty. You can take one financial withdrawal emergency per year, not to exceed $1,000. So, $2,000 of your withdrawal won't be eligible for penalty relief.
$1,000 of the $3,000 would qualify for the emergency-expense exception only if you actually needed the money for an unforeseeable or immediate financial need. Losing a job would not necessarily create such an financial need.