Petersen got to his half-century in the second over of the day.
Day 2 was a perfect day for South Africa. After the delay, Dale Steyn brought the home side into the match picking his 22nd five-wicket haul and then openers Smith and Petersen added 82 runs.
Opener Murali Vijay was the top scorer for the Indians with a score of 97.
The lower middle order collapsed as India were bundled out for 334 runs in their first innings.
Ajinkya Rahane was the last man standing scoring his maiden Test fifty, as India lost their last five wickets for just 14 runs.
Steyn might reckon his second day's performance to be right up there on the list. Starting at 181/1, India were bowled out for 334, courtesy Steyn's 6/51.
Steyn brought South Africa back in the game after scalping three wickets in a space of 10 deliveries and then in a second spell wreaked havoc with another three wickets in 14 deliveries as Indians lost last five wickets for 14 runs.
Having gone wicketless for 69.2 overs, Steyn shrugged off the disappointment with an inspired spell of fast bowling as he removed Cheteshwar Pujara (70), Murali Vijay (97) and Rohit Sharma (0) in a space of 10 deliveries to reduce India to 199/4.
In the post tea-session, Steyn again hit back and this time MS Dhoni (24), Zaheer Khan (0) and Ishant Sharma (4) were dismissed by the South African speedster in a space of 14 deliveries.
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