If your systems exist in a trusted "secure" environment, inside a firewall, and you don't go outside that firewall, then you can use .rhosts and rlogin.
Each user has to be defined on the other system in a .rhosts file in the home directory of the user. For root, it should be in / or /root depending on the version.
Then you can use the command rlogin hostname -l username, and it will get you right in. Your syntax may vary.
Telnet is risky in an exposed environment, but I work for a very large telecom company in Dallas and we use it all the time. The key is to disable the .rhosts file when it is not in use and also restrict it to the System Admin only while preventing users from creating .rhosts files in their home directories. By limiting the use of .rhosts, you can prevent unscruplous users from allowing people into your systems.
I hope that doesn't sound preachy, but it is true. Security doesn't mean shutting everyone out all the time. You have to have a certain level of trust some of the time, for any work to get done.
Sorry, preachy again... I'll get off my soapbox now...
