He said at one point it hit a central island causing a “cloud of dust and gravel”.
The jury heard a second police officer, PC Gerard Elliott, was also in the area in an unmarked patrol car and joined the pursuit as Richardson attempted to flee.
PC Elliott said he spotted the van and activated his blue lights.
He said the van appeared to hit speeds of “50mph in 30mph in residential streets with double-parked cars and blind bends”.
Dashboard camera footage showed the van having to stop on Co-Operation Street due to another vehicle blocking its path.
Richardson could be seen to jump out and run out of frame, and the jury heard PC Elliott followed on foot.
He said: “I followed the male on foot onto John Street, I did not see the male anywhere.
“As I approached a van I saw a male crouched behind it. As I ran around the side of the van I saw the male try to run.”
He said he tackled Richardson to the ground before being joined by fellow officers, who handcuffed him.
The jury has heard Richardson did not answer questions in his police interviews.
Earlier in the trial, Barnes told the jury Richardson’s cousin, Gabrielle Debotte, was in the passenger seat of the Volvo when it struck married father-of-two Mullins.
Debotte will appear for the prosecution as a witness, the jury were told, and is expected to describe what she saw on the journey.
Mullins was found fatally injured on a grass verge by motorcyclist Andrew Beasant-Roberts, who had followed a trail of blood from near the crash site on Paddock Lane to Wet Gate Lane.
Mullins died at the scene from injuries the prosecution claim were caused by dragging and crushing and not the impact of the collision itself.
The trial continues.