Convert a DER file (.crt, .cer, .der) to PEM
openssl x509 -inform der -in certificate.cer -out certificate.pem
Convert a PEM file to DER
openssl x509 -outform der -in certificate.pem -out certificate.der
Convert a PKCS#12 file (.pfx, .p12) containing a private key and certificates to PEM
openssl pkcs12 -in keyStore.pfx -out keyStore.pem -nodes
You can add -nocerts to only output the private key or add -nokeys to only output the certificates.
openssl pkcs12 -in filename.pfx -clcerts -nokeys -out certificate.cer openssl pkcs12 -in filename.pfx -nocerts -out privatekey-encrypted.key
Convert a PEM certificate file and a private key to PKCS#12 (.pfx .p12)
openssl pkcs12 -export -out certificate.pfx -inkey privateKey.key -in certificate.crt -certfile CACert.crt