List out contained files
rpm2cpio <rpmpackage.rpm> |cpio -t
Extract all files
rpm2cpio <rpmpackage.rpm> |cpio -id
Extract specific file
rpm2cpio <rpmpackage.rpm> |cpio -id <file>Note: extracting specific files requires you to put the full path of the file in the archive which you get from the cpio -t output.
You can read more about using cpio from the manpages and from this site