If you don't want to deal with security and want to make it as exposed (aka "convenient") as possible for short term, and|or don't have ssh/telnet or key generation on all your hosts, you can can hack a one-liner together with netcat. Write a command to your target computer's port over the network and it will run it. Then you can block access to that port to a few "trusted" users or wrap it in a script that only allows certain commands to run. And use a low privilege user.
mkfifo /tmp/netfifo; nc -lk 4201 0</tmp/netfifo | bash -e &>/tmp/netfifo
This one liner reads whatever string you send into that port and pipes it into bash to be executed. stderr & stdout are dumped back into netfifo and sent back to the connecting host via nc.
To run a command remotely:
echo "ls" | nc HOST 4201
I think this article explains well:
Running Commands on a Remote Linux / UNIX Host
Google is your best friend ;-)
ssh user@machine 'bash -s' < local_script.sh
or you can just
ssh user@machine "remote command to run"
Source: Stackoverflow.com