The Roosters doubled their lead in the 33rd minute when a quick close-range pass from Pearce sent skipper Braith Anasta over for the try and hand his side a 12-0 interval lead.
The home side added their third just six minutes into the second period when a well-timed pass from Pearce saw Sean Kenny-Dowall put Sam Perrett in at the corner.
The home side continued to dominate and Carney extended their lead to 18-0 with a 56th minute penalty.
But the Roosters hit back within minutes when Anasta put fullback Anthony Minichiello through a hole to dive over and extend the home lead to 24-6.
Penrith showed their spirit when replacement back Wade Graham scrambled to Nathan Smith’s grubber, but Sam Perrett was quick to add his second at the other end from a measured kick from Carney to round off the scoring at 34-12.
The Roosters will progress to a preliminary final against Gold Coast at Suncorp Stadium on Friday.