First download RAR rpm package:
$ wget http://pkgs.repoforge.org/rar/rar-3.8.0-1.el7.rf.x86_64.rpm
2014-10-31 18:51:15 (58.6 KB/s) - ‘rar-3.8.0-1.el7.rf.x86_64.rpm’ saved [216008/216008]

Now install the above downloaded package using yum command:
# yum localinstall rar-3.8.0-1.el7.rf.x86_64.rpm
Loaded plugins: langpacks, refresh-packagekit
Examining rar-3.8.0-1.el7.rf.x86_64.rpm: rar-3.8.0-1.el7.rf.x86_64
Marking rar-3.8.0-1.el7.rf.x86_64.rpm to be installed
Resolving Dependencies
--> Running transaction check
---> Package rar.x86_64 0:3.8.0-1.el7.rf will be installed
--> Finished Dependency Resolution

Dependencies Resolved

=========================================================
 Package       Arch       Version      Repository      Size
=========================================================
Installing:
 rar   x86_64     3.8.0-1.el7.rf   /rar-3.8.0-1.el7.rf.x86_64      546 k

Transaction Summary
=========================================================
Install  1 Package

Total size: 546 k
Installed size: 546 k
Is this ok [y/d/N]: y
Downloading packages:
Running transaction check
Running transaction test
Transaction test succeeded
Running transaction (shutdown inhibited)
  Installing : rar-3.8.0-1.el7.rf.x86_64                                                                                                                            1/1 
  Verifying  : rar-3.8.0-1.el7.rf.x86_64                                                                                                                            1/1 

Installed:
  rar.x86_64 0:3.8.0-1.el7.rf                                                                                                                                           

Complete!
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