Misbah and Azhar Ali each recorded their second century of the match – following Australian brothers Ian and Greg Chappell, against New Zealand in 1974, as the only pairs of batsmen from the same team to have achieved the feat – in a second innings of 293-3 declared.
And Misbah’s 11th four, to go with five sixes, saw him reach three figures in 56 balls and emulate Richards’s effort against England in the 1986 Antigua Test.
Along the way, he also broke Jacques Kallis’s record for the fastest half-century as he got there in 21 balls – three quicker than the South African’s effort in a two-day win over Zimbabwe in Cape Town in 2005.
A single off the next ball got Azhar on strike for the chance to follow him to a hundred – which he immediately did, with a single from his 174th ball, for their joint moment of history.
And Misbah immediately declared with a lead of 602, leaving the ‘hosts’ a scheduled 138 overs to bowl their opponents out in Abu Dhabi.
Australia, in reply, closed 459 runs behind on 143-4 after three wickets from Zulfiqar Babar.
The slow left-armer had Chris Rogers gloving to slip for two and Glenn Maxwell given lbw for four after a Pakistan review before bowling Australia captain Michael Clarke for five.
David Warner and Smith rebuilt with a stand of 58, the former reaching a 61-ball half-century when he drove Babar for his sixth four.
But a top-edged slog-sweep off Mohammad Hafeez ended his innings on 58, Yasir Shah with the catch. Smith was still there at stumps on 38 with Mitch Marsh on 26.