Darren Sammy grabbed his first wicket in his debut test by removing Cook for 60.
Collymore finished with figures of 2-44, and bowled five maidens in his
20-over spell. Sammy had seven maidens after 17 overs, with figures of 1-21.
Taylor took 2-52.
Prior and Bell set about salvaging the innings in the final session with a 98-run sixth-wicket stand.
But Prior was out on 40 after swinging a short ball from Dwayne Bravo to Runako Morton at deep square leg.
Bell reached his 12th half-century with a four off Fidel Edwards aimed
between slips and gully.
Bell is now aiming for his seventh century, having also hit a ton against the West Indies in the first-test draw at Lord's last month.
Liam Plunkett made 13 before Edwards removed his middle stump.
Steve Harmison finished on two not out.
Vaughan's exit on 41 sparked a middle-order collapse.
The captain attempted to drive Collymore, but the ball went between bat and pad and hit middle and off stump in the third over after lunch.
He hit six boundaries in his 99-ball innings and England was left on 117 for two.
Pietersen, who scored a career-best 226 in the innings and 283 run-win
over the West Indies in the second test at Headingley, could not even reach double figures, as he swept a short ball from Collymore straight to
Bravo at deep square leg for 9.
Fifteen balls later, with no addition to the score, Cook was out off a low
catch from Bravo at point.
|Finding their groove Fidel Edwards (l) celebrates a wicket [GALLO/GETTY]|
Paul Collingwood was trapped leg before wicket by Taylor for 10, with
England on 166.
Opener Andrew Strauss was the first England batsman to fall, facing six
balls before he was out lbw by Taylor in the third over, making it 13-1.
Cook then combined with Vaughan for a 104-run second wicket partnership.
Their rapid early progress was slowed by the introduction of Bravo and
Collymore, and later Sammy.
Sammy was one of three inclusions to the West Indies side from the loss at Headingley, West Indies' worst-ever defeat.
Shivnarine Chanderpaul and Edwards also came into the team, which was led by Daren Ganga for the first time.