passwordless ssh

on the first and second server:

test ~# mkdir ~/.ssh
test ~# chmod 755 ~/.ssh
test ~# /usr/bin/ssh-keygen -t rsa
test ~# /usr/bin/ssh-keygen -t dsa
test ~# cat ~/.ssh/id_rsa.pub >> ~/.ssh/authorized_keys
test ~# cat ~/.ssh/id_dsa.pub >> ~/.ssh/authorized_keys

on the first server:

test ~# ssh test@server2 cat ~/.ssh/id_rsa.pub >> ~/.ssh/authorized_keys
test ~# ssh test@server2 cat ~/.ssh/id_dsa.pub >> ~/.ssh/authorized_keys
test ~# chmod 644 ~/.ssh/authorized_keys

on the second server:

test ~# ssh test@server1 cat ~/.ssh/id_rsa.pub >> ~/.ssh/authorized_keys
test ~# ssh test@server1 cat ~/.ssh/id_dsa.pub >> ~/.ssh/authorized_keys
test ~# chmod 644 ~/.ssh/authorized_keys

verification:

on the first server:
test ~# ssh test@server2 ls -al

on the second server:
test ~# ssh test@server1 ls -al