According to Rippetoe, the spirit of the program is the letter, especially with respect to the squatting and cleaning. Go check out his site on strengthmill.net. People ask this question a lot, and his answer is invariably, "You can't do Starting Strength without a squat rack. Period." Buying the book is definitely worthwhile, though, because it is mostly about how to perform the lfts.
If you want a premade program, Pavel's Power to the Power uses no equipment other than the bar and plates. dragondoor.com has a good forum supporting it, although most of the folks are into kettlebells. dos Remedios book, Power Training, is essentially a flexible training template rather than a "program." You'd probably do something like clean, front squat, rdl, military press, oapu, and planks using his approach.
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