Using Command line to start, stop or reboot remote server with iDrac racadm

I've always like to set my Dell iDrac network management ip to a private one as compared to a public ones. However, when a dell server is causing a problem, i might not be able to access the server web interface since its an internal ip and the server might not be able to connect directly via ssh. In this case, how do i reboot the server without calling help from the datacenter? Apparently, there is a tool call racadm which can be used to assist such incident.