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The way to do this is with 'ssh authentication keys'.
You can find the instructions here:
http://www.extrapepperoni.com/2007/09/23/openssh-on-the-iphone/
Im posting the same instructions without so many letters, if you are new to all this, I strongly recommend that you read the extrapepperoni.com instructions.
so this is what you need to type in your mac (or linux):
# ssh-keygen -t rsa
That creates 2 files (id_rsa and id_rsa.pub) , to be sure it worked type the following command:
# ls ~/.ssh/
then you have to ssh into your iphone( you should know the root's password):
#ssh root@[IPHONE IP]
once you are logged into the iphone type this:
# mkdir ~/.ssh
# chmod go-w / ~
# “echo AuthorizedKeysFile .ssh/authorized_keys >> /etc/sshd_config“
*note: type the 3rd line with quotes
type "exit" to log out the ssh or open a new terminal window and type the next line to send the previously generated key to your computer.
# scp ~/.ssh/id_rsa.pub root@[IPHONE IP]:.ssh/authorized_keys
After all that you should be able to log into your iphone/ipod touch just by typing
# ssh root@[IPHONE IP]