Running commands on remote machines

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http://www.unix.com – so i want to monitor a variety of things on hundreds of servers. the old process was to have an agent running on each one of these servers. but now i'm looking to see if its possible to have agentless monitoring. the only other straight forward option other than having an agent on the hosts, is to use ssh. but i dont know how to go about this. I have 2 hosts that will serve as the monitoring servers. One will be Primary, the second will be Backup. the secondary will have the same exact setup as the primary. what do i need to do on these two hosts to be able to log into all my server (HowTos)