Without using VIPs or FAN, clients connected to a node that died will often wait for a TCP timeout period (which can be up to 10 min) before getting an error. As a result, you don't really have a good HA solution without using VIPs.
When a node fails, the VIP associated with it is automatically failed over to some other node and new node re-arps the world indicating a new MAC address for the IP. Subsequent packets sent to the VIP go to the new node, which will send error RST packets back to the clients. This results in the clients getting errors immediately