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slammin said..
These are popular and removable. There's different types, lengths and alloy as well.
http://www.yachtsofstuff.com/yosproduct.asp?ypid=4892&level=111
That sports/dive ladder looks easy to make in either SS or alloy. In small boats like the ones we are talking about here the pivot point can be close to the deck join and the pressure or support pad can be right at the point where the hull joins the transom and no backing or reinforcing will be required. The important point is to make the first step well under the waterline as in Jolene's ladder. Some yachts the rudder blade can be utilized as the first step. I could probably climb up my windvane self steering gear using the rear edge of the rudder blade as the first step. The tiller would need to be secured slightly off centre though.
When I dive now I use my catamaran tender. Getting back on I just push down one hull at the stern and get on easily. I have a new tender in the works and have a SS fold down ladder I made for a previous yacht that will be used on the transom of the new tender. After learning how to weld aluminium I think I might have to weld up an alloy ladder that just hooks over the middle pushpit rail and can be stowed below on a pipecot when not in use.