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My partner posted this for me, I'm really proud of this because its written in OCaml and its a great example of real world functional programming.
I voted it up solely because it was OCaml, haha. Not really too novel, I'm afraid, but an interesting take on the RSA SecurID via PAM nonetheless.

Tangentially, I think you can do this without Jailbreaking via services like : https://www.appaloosa-store.com/. Or maybe http://bumaociyuan.github.io/ios/2015/07/17/self-signed-cert... and https://github.com/bumaociyuan/zxIpaServer though I might be wrong. (I.e., you no longer need to to JB, you an just put the signed .ipa on a website and it will install.) I haven't had an iPhone in years to test it, but I'd be interested to know.

Just curious, why is there no list of specific iOS devices this tool supports? At the very least, I assume it doesn't work with any recent non-jb'd iOS devices, like iPhone 6+, possibly not even iPhone 5 or 4 - but this is just speculation. Which is why I wish there was a list of supported devices / OS versions.
This is just for jailbroken devices, should work for any iOS version that speaks usbmuxd, which is the same thing that iTunes uses...which means all of them. I use this with iPhone 4, 4s, iPad 2, iPhone 5.