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This page describes how to extract RAR files with free software.
RAR is a proprietary archive format. RAR files can not be created with free software. Unrar-free can extract these files, but only supports RAR files before 3.0.
Install the unrar-free package:
sudo apt-get install unrar-free
Create a link to allow Archive Manager to use unrar-free:
sudo ln -s /usr/bin/unrar-free /usr/bin/unrar
Right click on the file in Nautilus and select "Extract Here" or double-click to open with Archive Manager.
The Unarchiver (unar) is a program capable of extracting a number of file formats, including RAR. It is also capable of extracting RARv3. However, it is not currently packaged in gNewSense (it should be included in the release after 3.0, as Debian Wheezy includes it).