His attorneys have sought to undercut Constand's credibility, arguing that her goal had been to win a hefty payout from Cosby.
Agrusa's ability to question Constand about her $3.4 million civil settlement with Cosby was limited due to a ruling from the judge.
Gianna Constand repeated several times, "you're wrong".
Montgomery County Assistant District Attorney Kristen Feden interrupted with an objection sustained by Montgomery County Court of Common Pleas Judge Steven O'Neill.
The non-disclosure agreement allowed Constand to discuss her accusations when involved in a federal or state investigation, the prosecution said.
The judge has ruled that Jackson can take the stand at the retrial but indicated he could revisit the issue after Constand was finished testifying.
She says Cosby told her he gave Andrea Constand a prescription drug but didn't give her the name.
Andrea Constand said under cross-examination Monday that her phone calls to Cosby were about basketball.
Ms Constand denies attempting to set up the star.
"Did you ever fabricate a scheme to falsely accuse him for money?"
Earlier in the day, the typically sedate entertainer appeared amused as the 45-year-old accuser again took jurors step-by-step through his alleged attack.
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Constand's mother followed her on the witness stand and bolstered her account, testifying about a phone conversation she said she had with the comedian about a year after the alleged assault in which he described in graphic detail their sexual account and then apologized.
She said she was "very combative" with Cosby, demanding he tell her the medication he'd given her daughter and what he'd done to her.
This time, defense lawyers are trying to portray Constand as an opportunist who feigned romantic interest in him and then leveled a false accusation of sexual assault so she could file a lawsuit. She said she awoke to find the actor known as "America's Dad" penetrating her with his fingers, touching her breast and putting her hand on his penis.
"I can't speak for him, but I was glad it was over", Constand said in court Monday.
Cosby is accused of drugging and sexually assaulting former Temple employee Andrea Constand. The defence said she spent late nights at the comedian's home, drove four hours to see him at a casino and called him twice on Valentine's Day, about a month after the alleged assault.
The first criminal trial ended with the jury unable to reach a verdict. And she said her phone calls to Cosby were about basketball and had nothing to do with romance.
Phone records show Constand, the former director of women's basketball operations at Temple University, made brief calls to Cosby around the time of a Temple home game on February 14, 2004, the month after the alleged assault.
During cross examination Friday, the trial lawyer had Constand flustered with questions about whether she'd ever said she was affectionate toward Cosby.
Constand denied telling a defense witness almost 13 years ago she was hatching a plot to extort money from a celebrity, but Constand went even further than that, denying that she even knew Marguerite Jackson.
"Quaaludes happen to be the drug that kids, young people were using to party with and there were times when I wanted to have them just in case", Cosby testified.
Constand is Cosby's chief accuser in a case that lacks virtually any forensic evidence.
At last year's trial, Cosby's lawyers suggested that Constand and the former "Cosby Show" star were lovers who had been intimate with each other in the past.