The trick is to set the ssh command as a variable so that the expansion happens at the correct time.
#!/bin/bash
cmd="echo XXXXXXXX | sudo -S mongo 127.0.0.1/admin -u admin -p $pass --eval 'printjson(rs.conf())'"
ssh -q -o BatchMode=yes -o ConnectTimeout=10 -o StrictHostKeyChecking=no user@host $cmd
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