Doherty joins with experience at all levels, most recently from Louisville and Racing Louisville FC.
Despite Gretchen Gilmore's seven goals, Penn State fell just short to the Dukes.
The Nittany Lions will play at the Hoyas' home at 2:30 p.m. on Sunday, May 21.
Despite a positive start, Penn State could not handle Northwestern and fell short of the championship.
Jacobs will join Hunter Nourzad, who was a fifth-round selection, with the Chiefs.
Penn State fought to secure the last-minute win and move on to the semifinals.