Rayudu's 184-ball unbeaten innings was studded with seven boundaries and a six, while Waghmode hit six fours and a six during his 113 ball stay at the Greater Noida Sports Complex Ground here.
At the draw of stumps, Rayudu was at the crease and giving him company was Irfan Pathan (18).
For Uttar Pradesh, Praveen Kumar (2/34) was the pick of bowlers, while Saurabh Kumar (1/91), Kuldeep Yadav (1/42) and Piyush Chawla (1/36) claimed one wicket each.
Waghmode then joined hands with Rayudu and crossed the 100-mark before the opener was trapped in front of wicket by Praveen as Baroda slipped to 108 for three.
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Rayudu then took the onus on himself and shared 55 runs with Deepak Jagbir Hooda (30) and stitched a 49-run partnership with Yusuf Pathan (31) for the fourth and fifth wicket respectively to take Baroda across the 200-mark.
Baroda 1st innings: 242 for 5 in 83 overs (A Rayudu 70; Praveen Kumar 2/34).