To extract files, using the command line utility:
$ cpio -idmv -I example.cpio
To list files:
$ cpio -it -I example.cpio
A cpio archive begins with one of the following signatures:
'0' '7' '0' '7'
Be aware that there are afio extensions to cpio format that are not supported by most cpio utilities. For one thing, if most of the filenames end in ".z", it's probably a compressed afio archive.