You can start the CRS services per RAC node with:
$CRS_HOME/crsctl start crs
or you can start the individual services with:
Nodeapps:
$CRS_HOME/srvctl start nodeapps -n hostname
ASM:
$CRS_HOME/srvctl start asm -n hostname
Database Instance:
$CRS_HOME/srvctl start instance -d orcl -i orcl1