Having resumed after lunch on 43 for six, Australia lost their last four wickets for 42 runs, with Vernon Philander returning to the field after an early clash with captain Steven Smith to finish with 5-21.
Philander bowled Joe Mennie for 10 while Kyle Abbott (3-41) had Mitchell Starc (four) and Josh Hazlewood (eight) caught in behind the wicket soon after.
Philander wrapped up the innings, with wicketkeeper Quinton de Kock taking a brilliant diving catch to dismiss Nathan Lyon for two, with captain Smith left unbeaten on 48.
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(Reporting by Ian Ransom in Melbourne; Editing by Greg Stutchbury)
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