Warwickshire County Cricket Club trail by 81 runs on the second day of their County Championship game with Yorkshire at Headingly.
Yorks resumed on 294-9 but only added eight more runs before Brooks was caught by Ambrose to give Boyd Rankin a second wicket.
Warwicks were soon in trouble losing Ian Westwood for seven and Will Porterfield for nine.
Varun Chopra added twenty three but after he was out and Tim Ambrose was out for a duck, Warwicks were on 50-4.
Laurie Evans did his best adding 88 and although Chris Woakes added 21 and Rikki Clarke 24, Warwicks ended the day on 221-8, some 81 runs behind.