Export CA Certificate with base64 decode format from ADCS and copy ca.crt to linux server locate at /etc/pki/tls/certs

yum install openssl-perl
cd /etc/pki/tls/certs
cat ca.crt >> ca-bundle.crt
c_rehash /etc/pki/tls/certs/

Check with command

openssl s_client -showcerts -connect your-ca-server.doamin:443

The result should return as below

Start Time: 1398197147 Timeout : 300 (sec)
 Verify return code: 0 (ok)