I usually like to use it together with bloodbath and internal release (maybe berserk depending on the situation) on large mob groups (4+), then quickly pop infuriate for unchained and if not used yet, berserk.

This is really one of those skills that makes warrior unique and a little more complicated for approaching situations, try and maximize your dps ability while keeping your tanking ability functional, this is just a small thing that can separate a good Warrior from a great Warrior.