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if you want logging the command *and* time an easy way I would suggest you look into the Grsecurity kernel patch. It's got an option called Trusted Path Execution which you can switch (on|off|$UID). Quite, kewl, Grsec also has the same options (not under TPE tho) for logging all users commands in a chroot...
If you worry about users executing commands they are not supposed to execute, then play a little bit more curious admin, look under user's history what commands gets executed more often (you can strip out ls, cd, etc) and then you can setup sudo for users to execute commands and log what these commands were, who executed a particular command and when these commands were executed
There is another method we use at work to log all the commands user might execute, we call it como, I'll ask tomorrow for a permission to get a sneak view how it is constructed, I am not sure if it is a UNIX package (the google yielded no results except Spanish web pages) or it was written by one of our developers back in 80's.