But there would only be one client .. the machine behind my firewall...connecting to the two servers, which are publically available.
No problem. Set up a cron job on your machine behind it's firewall, which does something like:
1 1 * * * /usr/local/bin/rsync -az --delete -e ssh server1:/stuff /PATH_TO_BACKUPS/server1/
1 2 * * * /usr/local/bin/rsync -az --delete -e ssh server2:/more_stuff /PATH_TO_BACKUPS/server2/
1 3 * * * # run backup script like Amanda, dump, etc here...
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