The first two authors have recently defined Rabinowitz Floer homology groups $RF{H}_{*}(M,W)$ associated to a separating exact embedding of a contact manifold $(M,\xi )$ into a symplectic manifold $(W,\omega )$. These depend only on the bounded component $V$ of $W\setminus M$. We construct a long exact sequence in which symplectic cohomology of $V$ maps to symplectic homology of $V$, which in turn maps to Rabinowitz Floer homology $RF{H}_{*}(M,W)$, which then maps to symplectic cohomology of $V$. We compute $RF{H}_{*}(S{T}^{*}L,T^{*}L)$, where $S{T}^{*}L$ is the unit cosphere bundle of a closed manifold...