England were restricted to 255 by a hostile bowling spell from Mitchell Johnson, but the Australians made heavy weather of their reply on a slow MCG pitch.
Veteran opener Chris Rogers crawled to his third half-century of the series following the cheap dismissals of David Warner (9), Shane Watson (10) and skipper Michael Clarke (10).
Nearing tea, Rogers scampered through for a single off spinner Monty Panesar to claim his 50 off 133 balls. At the interval, Australia trailed England by 159 runs at 96 for three with Rogers unbeaten on 50 and Steve Smith not out 14.
Jimmy Anderson surprised Clarke with a delivery that shaped in and collected the top of off-stump in the 26th over of the innings.
The Australia skipper was pinned down by disciplined English bowling with his 10 runs coming off 34 balls.
England, resuming at 226 for six, meekly succumbed to be all out for 255 with Johnson taking five for 63 in a withering four-over morning spell of three for four with two maidens.
Among the England wreckage was the wicket of Pietersen, out bowled going for a wild slog for 71 after adding just four runs to his overnight score.
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