"We have not separated ourselves from the field. I need to go out there and put together a solid round of golf."
The lead changed several times on a day of perfect playing conditions which allowed for low-scoring on Abu Dhabi's testing National Course.
Kingston, Gonnet, Hanson and Rock all took command at times before Woods edged ahead with his fifth birdie of the day at the 14th.
He parred the next four holes and birdied the par-five last after reaching the green comfortably in two.
His six-under 66 was his best tournament score since he shot the same number in the second round of last year's Masters.
It was while playing at Augusta National that Woods picked up the leg injury that sidelined him for most of the rest of the season.
His playing partner for the third straight day, McIlroy, stayed in touch with a 68 to settle in at two strokes off the lead, and he was pleased that he showed more consistency than on the two previous days.
Rock, ranked 117th in the world, birdied the last two holes to draw level with Woods and will play alongside him for the first time in Sunday's finale, an experience he said he was looking forward to.
World No 2 Lee Westwood, shrugged off the effects of a jarred nerve in his neck to fire a 68 which left him at four-under-par, but fellow Englishman Luke Donald, the top-ranked player in the world, is out of contention.
He failed to get anything going and had to settle for a 73, which left him at level-par for the tournament.
The event is the fourth tournament in the 2012 Race to Dubai after three in South Africa and it opens a three-week long Desert swing in the Gulf which takes in Doha next week and the Dubai Desert Classic the week after.
It also is the season-opener for most of the big names in golf. AAP
