Authority and trust

In the Extreme Programming discussion group , Brian Schuth wrote about his experience with the use of authority:

(…) There are at least two places where authoritative tone works — in panic or stressful situations, when the need for leadership trumps the need for full communication; and when someone willingly places themselves in a trusting student relationship. When you are in such a relationship, the teacher/authority can just tell you what to do, and you do it, trusting that the outcome will justify the subjugation to authority. (…)

My interpretation is that authority can work, but only in situations where there is sufficient trust between people. In practice, however, I usually see that people tend to use authority when there is a lack of trust, both in themselves and in others…