RCFORC outputs the overall contact forces across the whole surface of the corresponding *CONTACT definition. The rcforc value at a certain step correspods to the sum of the nodal contact forces across all nodes of the contact surface at that time step. The two opposing contact surfaces are the ones defined by the SURFA and SURF on the *CONTACT card 1. If there are more than one *CONTACT definitions that overlap across a surface, the total contact force on this surface will be the sum of the forces contributed from each of the *CONTACT definitions.
The binary database INTFOR fringes the contact forces and stresses per contact segment. A segment is the face a one element on the contact surface.
Since this model has various parts coming into contact, you could include all parts in a single *CONTACT_AUTOMATIC_SINGLE_SURFACE to avoid using multiple surface-to-surface contacts. The contact force between pairs of parts or pairs of part sets can be obtained in RCFORC by defining a *CONTACT_FORCE_TRANSDUCER_PENALTY between each pair. *CONTACT_FORCE_TRANSDUCER_PENALTY measures contact force only, it is not an actual contact.
I hope this helps.