You don't need to use adb to run Amon_RA. If you go into ROM Manager to the bottom of the options you'll see an option to change your recovery. You can do it from there. But... it sounds like you don't have root.
Plug your phone into your computer, enable debugging mode, put your phone on charge on.
Open a terminal(MAC) or command prompt for windows.
Navigate thru the adb to your tools folder, where the adb is found.
Then type
adb devices
your device should be listed
Then type
adb start-server
it should either start a server or say a server is already running
then if you type
adb shell
you'll be able to directly input commands to the phone.
If you got an $ when you typed SU, you're not full root.
What's your hboot#, version of your phone (002, 003, 004) and what method did you use to root?

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