htaccess will not give you proper result as this doesn't rewrite $_SERVER['REQUEST_URI']
so Joomla routing works with bad URI
What will help is creating system plugin and replace this variable in onAfterInitialise
function
if you don't need to save the URL you can use something from here http://www.inmotionhosting.com/support/website/redirects/setting-up-a-301-permanent-redirect-via-htaccess
your htaccess rule will be
RewriteRule ^folder1(/.*)$ /folder3$1 [R=301,L]