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ssh Tunneling

I have three linux boxes A, B, C.
A and B are directly connected to the internet whereas C is behind a
router which is connected to the internet

B is my remote server.

I need to administer C through A using B.
Since I cannot directly connect to C (it being behind a router, which I
do not intend to interfere with), I need to set up an ssh tunnel between B
and C so that machine A can talk to C through this tunnel.

This is roughly what I intend to do. (just a plan yet...)

Any tips or pointers would be greatly appreciated.