in one line:
export PGPASSWORD='password'; psql -h 'server name' -U 'user name' -d 'base name' -c 'command'
with command a sql command such as "select * from schema.table"
or more readable:
export PGPASSWORD='password'
psql -h 'server name' -U 'user name' -d 'base name' \
-c 'command' (eg. "select * from schema.table")