I have seen similar problem. The authentication dialog never shows up, even if 
I revoke adb authentication. My workaround is to delete .android folder under 
your home directory on your linux desktop (I suggest you backup it first), i 
guess this is probably related to  $HOME/.android/adbkey.pub. Since the RSA 
public key was copied into /data/misc/adb/adb_keys on target device.

Another way is to change init.rc and make secure=0 as Dave mentioned, however, 
init.rc is part of ramdisk.img and boot.img=kernel+ramdisk.img. I guess you 
might not flash boot.img after you modified your init.rc.
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