To tell those kids that’s living in the ghetto
The line should be read similar to how you read poetry — read it continuously until a punctuation mark. So read it as “Five in the air for the teachers not scared/to tell those kids that’s living in the ghetto/[,]that the niggas holding back[,] that the world is theirs.”
Lupe is giving a shoutout to all the kids living in the ghetto and their teachers. Since he knows how they feel because he was once there, he wants them to know he cares.
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