I just built a system to do this a few weeks ago
depeding on the browser you need to detect the hash, heres how to do that
// test all possible places hash could be on different browsers
if(window.location.hash){
hash = window.location.hash;
else if (document.location.hash){
hash = document.location.hash;
else if(location.hash){
hash = location.hash;
}
// some browsers start the hash with #, remove it for consistency
if(hash.substring(0,1) = '#'){
hash = hash.substring(1,hash.length);
}
Then handle the value of the hash variable to trigger page changes as you please.
for example:
http://www.example.com#pageA
if(hash = 'pageA'){
document.getElementById('mainContentDiv').innerHTML = '<p> content for the page displayed when the hash sais pageA</p>';
}