Teenage opener Sam Konstas and Josh Inglis were recalled in their place, but they scored just three and five respectably as the tourists slipped to 22-3.
Head put on 89 runs for the fourth wicket with Khawaja, who was dropped twice before he became Joseph’s third victim of the day.
Joseph, the hero for West Indies in their famous win in Brisbane 18 months ago, then produced a beauty of a delivery that clean bowled Webster as he ended with figures of 4-46.
Head’s resistance ended when he was caught behind off the bowling of Justin Greaves, before Seales wrapped up the tail to finish with 5-60.
West Indies, seeking a first home Test win over Australia for 22 years, made a poor start to their reply when Starc removed openers Kraigg Brathwaite and John Campbell in successive overs.
Cummins then had Keacy Carty caught behind, before Hazlewood bowled nightwatchman Jomel Warrican in the space of six balls shortly before stumps.