The closest way I know to date k mount lenses his here:
http://kmp.bdimitrov.de/lenses/zooms/long/A70-210f4.html
While it doesn't necessarily tell you exactly when you lens was made, you can figure out the years of production. If you are lucky, you may be able to fix a date to a lens with a known date of production. With your SMC A 70-210mm f4, you can see that it was produced from 1984-88. You will also find that there were several SMC A 50mm lenses produced: f1.2, f1.2 special, f1.4, f1.7, f2 and f2.8 macro. The speed is needed to figure that one out.
There are a couple of other sites for Pentax (takumar) m42 screw mount lenses.