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I would like to extract the pipeline geometries from https://www.arcgis.com/home/webmap/viewer.html?webmap=a00c3b5cee4e4fe0b238b5e05ed80204

It shows the existing gas & oil pipelines crossing through Pennsylvania and was created by FracTracker for http://www.roverpipelinefacts.com/about/route.html . Despite it's a NGO they don't allow you downloading their data.

If I should know the REST FeatureServer URL I could download it (EXAMPLE):

wget "https://services.arcgis.com/jDGuO8tYggdCCnUJ/arcgis/rest/services/AtlanticCoastPipeline/FeatureServer/2/query?where=1=1&outFields=*&outSR=4326&f=geojson"

How can I find out this URL for the web map from above?

The REST service for the existing pipelines is https://services.arcgis.com/jDGuO8tYggdCCnUJ/arcgis/rest/services/Esisting_pipelines_final_updated/FeatureServer/0

But am I right that you are more interested in the proposed ones? The existing US pipeline network can be downloaded from EIA: https://www.eia.gov/maps/layer_info-m.php

The proposed pipelines layer seems to be somehow disables, I'm not sure whether you could guess the URL.

Edit:

The pipelines are here

http://www.arcgis.com/home/webmap/viewer.html?url=http://services.arcgis.com/jDGuO8tYggdCCnUJ/ArcGIS/rest/services/Buckeye_Partners_Pipeline_Proposal/FeatureServer

http://www.arcgis.com/home/webmap/viewer.html?url=http://services.arcgis.com/jDGuO8tYggdCCnUJ/ArcGIS/rest/services/Pennsylvania_and_New_York_SXL_and_Kinder_Morgan_Proposals/FeatureServer

I found the URL:
https://services.arcgis.com/jDGuO8tYggdCCnUJ/ArcGIS/rest/services/Esisting_pipelines_final_updated/FeatureServer

by going into developer tools in Chrome: F12 and reloading the site and watching the network tab.:

And you can remove resources from the url to get other services:
https://services.arcgis.com/jDGuO8tYggdCCnUJ/ArcGIS/rest/services

You can do the same thing with Fiddler--I use both, but the browser dev tools are usually sufficient for casual inspection.

If you open the webmap, and click on the "..." under the layer (i.e. more options) you can see the attached AGOL metadata (https://www.arcgis.com/home/item.html?id=a2bd08552ba54a3899ffc53b747b22e8), which provides a service URL for the existing;

https://services.arcgis.com/jDGuO8tYggdCCnUJ/arcgis/rest/services/Esisting_pipelines_final_updated/FeatureServer/0

It doesn't look like the "proposed metadata" (and service url) are being provided.

Using the network response request is also another way to find the same information.