Marnus Labuschagne and Steve Smith attempted to steady the innings, but Anrich Nortje struck again before leaving the field with a suspected groin injury.
Jansen then returned to dismiss Australia’s star performer from the first Test, Matt Renshaw, and Alex Carey in the space of three deliveries, piling further pressure on the visitors.
The pacer continued his remarkable spell, bringing Beau Webster’s resistance to an end, with Aiden Markram taking the catch to hand the seamer his fifth wicket of the innings, which he concluded with bowling figures of 5-33.
As wickets continued to tumble at the other end, Smith reached the landmark of 11,000 Test runs, joining Australian greats Ricky Ponting and Allan Border in an exclusive club. His milestone innings, however, was cut short when Wiaan Mulder dismissed him for 28 off 88 balls.
Australia were eventually bowled out for just 99, with the Proteas securing a mammoth 326-run first-innings lead.
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