HOWTO Create A Bootable USB Drive From An ISO Image For Apple PowerPCs In Linux
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The other item you will need is hfsutils. This is available as a binary and can be downloaded using your package manager.
  $ mkdir ~/liveusb
  $ cd ~/liveusb
  $ mkdir ./iso
  $ mkdir ./usb
  $ mv ~/Downloads/xubuntu-10.04-desktop-powerpc.iso ~/liveusb
  $ sudo -s
  [sudo] password for userid:
  #
  # ls /dev/sd?
  # mount | column -t
  /dev/hda3  on  /                         type  ext4        (rw,errors=remount-ro)
  proc       on  /proc                     type  proc        (rw,noexec,nosuid,nodev)
  none       on  /sys                      type  sysfs       (rw,noexec,nosuid,nodev)
  none       on  /sys/fs/fuse/connections  type  fusectl     (rw)
  none       on  /sys/kernel/debug         type  debugfs     (rw)
  none       on  /sys/kernel/security      type  securityfs  (rw)
  none       on  /dev                      type  devtmpfs    (rw,mode=0755)
  none       on  /dev/pts                  type  devpts      (rw,noexec,nosuid,gid=5,mode=0620)
  none       on  /dev/shm                  type  tmpfs       (rw,nosuid,nodev)
  none       on  /var/run                  type  tmpfs       (rw,nosuid,mode=0755)
  none       on  /var/lock                 type  tmpfs       (rw,noexec,nosuid,nodev)
  none       on  /lib/init/rw              type  tmpfs       (rw,nosuid,mode=0755)
  /dev/hda6  on  /home                     type  ext4        (rw)
  /dev/hda5  on  /usr                      type  ext4        (rw)
  /dev/sda2  on  /media/disk               type  ext3        (rw,nosuid,nodev,uhelper=hal)
  # umount /dev/sda?
  # mac-fdisk /dev/sda
  /dev/sda
  Command (? for help):
  Command (? for help): i
  map already exists
  do you want to reinit? [n/y]: y
  size of 'device' is 2015232 blocks:
  new size of 'device' is 2015232 blocks
  Command (? for help):
  Command (? for help): p
  /dev/sda
          #                    type name                length   base    ( size )  system
  /dev/sda1     Apple_partition_map Apple                   63 @ 1       ( 31.5k)  Partition map
  /dev/sda2              Apple_Free Extra              2015168 @ 64      (984.0M)  Free space

  Block size=512, Number of Blocks=2015232
  DeviceType=0x0, DeviceId=0x0

  Command (? for help):
  Command (? for help): b
  First block: 64
  Command (? for help): p
  /dev/sda
          #                    type name                length   base    ( size )  system
  /dev/sda1     Apple_partition_map Apple                   63 @ 1       ( 31.5k)  Partition map
  /dev/sda2         Apple_Bootstrap bootstrap             1600 @ 64      (800.0k)  NewWorld bootblock
  /dev/sda3              Apple_Free Extra              2013568 @ 1664    (983.2M)  Free space

  Block size=512, Number of Blocks=2015232
  DeviceType=0x0, DeviceId=0x0

  Command (? for help):
  Command (? for help): c
  First block: 1664
  Length (in blocks, kB (k), MB (M) or GB (G)): 2013568
  Name of partition: xubuntu
  Command (? for help): p
  /dev/sda
          #                    type name                length   base    ( size )  system
  /dev/sda1     Apple_partition_map Apple                   63 @ 1       ( 31.5k)  Partition map
  /dev/sda2         Apple_Bootstrap bootstrap             1600 @ 64      (800.0k)  NewWorld bootblock
  /dev/sda3         Apple_UNIX_SVR2 xubuntu            2013568 @ 1664    (983.2M)  Linux native

  Block size=512, Number of Blocks=2015232
  DeviceType=0x0, DeviceId=0x0

  Command (? for help):
  Command (? for help): w
  IMPORTANT: You are about to write a changed partition map to disk. 
  For any partition you changed the start or size of, writing out 
  the map causes all data on that partition to be LOST FOREVER. 
  Make sure you have a backup of any data on such partitions you 
  want to keep before answering 'yes' to the question below! 

  Write partition map? [n/y]: y
  The partition map has been saved successfully!

  Syncing disks.

  Partition map written to disk. If any partitions on this disk 
  were still in use by the system (see messages above), you will need 
  to reboot in order to utilize the new partition map.

  Command (? for help):
  Command (? for help): q
  #
  # umount /dev/sda?
  # mac-fdisk -l /dev/sda
  /dev/sda
          #                    type name                length   base    ( size )  system
  /dev/sda1     Apple_partition_map Apple                   63 @ 1       ( 31.5k)  Partition map
  /dev/sda2         Apple_Bootstrap bootstrap             1600 @ 64      (800.0k)  NewWorld bootblock
  /dev/sda3         Apple_UNIX_SVR2 xubuntu            2013568 @ 1664    (983.2M)  Linux native

  Block size=512, Number of Blocks=2015232
  DeviceType=0x0, DeviceId=0x0
  # mkfs -v -t ext2 -L 'xubuntu-10.04' /dev/sda3
  # mount /dev/sda3 ./usb
  # mount -t iso9660 -o ro,loop=/dev/loop0 ./xubuntu-10.04-desktop-powerpc.iso ./iso
  # (cd ./iso ; tar cBpf - .) | (cd ./usb ; tar xvBpf -)
  # cp ./iso/install/yaboot ./iso/install/yaboot.conf ~/liveusb
  # chmod +w yaboot.conf
  # umount ./iso
  # umount ./usb
  # hformat -l LiveUSB /dev/sda2
  # hmount /dev/sda2
  # hcopy -r yaboot :
  # hattrib -c UNIX -t tbxi :yaboot
  # hattrib -b :
  # humount
  root=/dev/ram
  partition=3
  message=/install/boot.msg
  default=live
  # mount /dev/sda2 ./usb
  # cp ./yaboot.conf ./usb
  # umount ./usb
  # mount /dev/sda3 ./usb
  # cp ./usb/install/boot.msg ~/liveusb
  # chmod +w ./boot.msg
  # cp ./boot.msg ./usb/install
  # umount ./usb
  # exit
  $
Thanks to OSXbook.com for their insights on Open Firmware works.
Thanks to homey at LinuxQuestions.org for the mount ISO command.
Thanks to Sergio Hernandez for pointing out the hfsutils to me.
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