Rahane hit his second fifty of the match in the last over before lunch even as India kept losing wickets at the other end.
Robin Peterson dismissed Indian captain MS Dhoni and Ravindra Jadeja in one over to increase India's misery.
Peterson first had Dhoni (15) caught by Alviro Petersen at mid-wicket and then a rush of blood resulted in Jadeja's dismissal.
Having hit a six earlier in the over, Jadeja (8) again went for a big shot but only got a top edge that was gobbled up by Morne Morkel at mid-off.
Vernon Philander trapped Rohit Sharma plumb in front of the wicket as India lost half of their side in their second innings.
Philander bowled a delivery that shaped in sharply, Rohit (25) was stuck in the crease as he played that, the movement took the ball past the bat, struck on middle and off, plumb in front.
Dale Steyn dismissed Virat Kohli and Cheteshwar Pujara in his successive overs to rattle the Indian second innings.
Steyn bowled a full delivery, angling in, but at the last moment the ball seamed away and hit the off-stump before Pujara (32) could do anything.
Virat Kohli was adjudged out caught behind on the first ball of the fifth day even though the Dale Steyn delivery went off his shoulder.
Steyn bowled one short of length on the off-stump channel and Kohli pushed at it with minimum foot movement, the ball carried through off his shoulder low to AB de Villiers behind the stumps who pouched it safely, but umpire Rod Tucker raised his finger much to the shock of Kohli (11).
The day's play started with Pujara and Kohli resuming the Indian second innings.
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