Giving a user (not a root) an access to some system commands
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You would have to make specific entries (what specific commands you want which user to be able to control) in sudo configuration using visudo command. visudo is kinda special vi editor for sudo utility.
Please read the sudo tutorial or how-tos on the net...also man sudo for more info.
And yes, you would not have to give superuser password once you set sudo. After setup, you can simply say