> I believe, what you are looking for is sudo. Check out the following
> manual pages,
>
> man sudo
> man sudoers
>
> See EXAMPLES section to get a quick idea. As the name goes, if
> authorized, any user can gain superuser privileges through sudo. So, in
> effect, two or more users can login as root using their own passwords.
>

This solution should work best for OP. Also password less ssh with
different password phrase
for different machines is something you can consider(although it does not
exactly match your
description).

http://rcsg-gsir.imsb-dsgi.nrc-cnrc.gc.ca/documents/internet/node31.html
http://forums.freebsd.org/showthread.php?t=1508
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