The Rabinowitz-Floer homology groups RFH∗(M,W) are associated to an exact
embedding of a contact manifold (M,ξ) into a symplectic manifold
(W,ω). They depend only on the bounded component V of W∖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
RFH∗(M,W), which then maps to symplectic cohomology of V. We compute
RFH∗(ST∗L,T∗L), where ST∗L is the unit cosphere bundle of a closed
manifold L. As an application, we prove that the image of an exact contact
embedding of ST∗L (endowed with the standard contact structure) cannot be
displaced away from itself by a Hamiltonian isotopy, provided dimL≥4 and
the embedding induces an injection on π1. In particular, ST∗L does not
admit an exact contact embedding into a subcritical Stein manifold if L is
simply connected. We also prove that Weinstein's conjecture holds in symplectic
manifolds which admit exact displaceable codimension 0 embeddings.Comment: 59 pages, 8 figure