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If you simply want to restart the machine, "restart" is the command :-)
If you want to restart just one server, you can do it by sending a "restart" option to it's init script. these will probably be in /etc/rc.d/init.d/ (they are linked to from the /etc/rcX.d directories)
If mysql is run through xinetd, you can do "/etc/rc.d/init.d/xinetd restart" or something similar, and if it's run through it's own daemon, the xinetd up there will be replaced by something similar to mysql... just check out what you've got in initd/ and maybe even do a "less <file>" to see what's in them.
-Adam
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