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i use IZArc, a small freeware programme. http://www.izarc.org/
More specifically... i right-click the .rar file and choose Extract Here.
But depending on the circumstances, you might Extract To a specified folder.
There are several versions of 7-Zip recompiled for MacOS X (command-line only): http://www.7-zip.org/download.html
(7-Zip is an open-source archiver for Windows.)