You can do it easily with “unrar”. For this you must have Homebrew.
To install Homebrew (if not installed in your mac):
/bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install.sh)"
In a terminal type:
brew install unrar
After installing unrar successfully, navigate the location of your .rar file from your terminal and run this command
unrar x <filename>
Done, now you can see the extracted file in the same location of your .rar file having the same name.
Or to list files, write:
unrar l <filename>
and to extract single file:
unrar e archive.rar folder/file.exe desired_location/