For inside users to access these servers via the public IP, you need to set up "destination NAT" in the PIX, where the PIX will see traffic destined for 161.10.10.10 and change the destination to 172.16.2.10.
The commands you specify above are exactly what's needed. This tells the PIX that if you see a packet on the inside interface for 161.10.10.10, change it to 172.16.2.10 and send it to the dmz interface.
What you could also do, if your DNS server is on the outside interface and it resolves to 161.10.10.10 when your users browse to these servers, is change your existing statics to:
static (dmz, outside) 161.10.10.10 172.16.2.10 dns netmask 255.255.255.255
staic (dmz, outside) 161.10.10.11 172.16.2.11 dns netmask 255.255.255.255
which tells the PIX that if it sees a DNS reply come through that has 161.10.10.10 in it, change it to 172.16.2.10, this way your users can browse to it via its public name and they won't have any idea what IP address they're actually connecting to.
This'll only work if the DNS server is on the outside though, otherwise use "Destination NAT" like you have done with the 2nd set of commands.
