How to enable cross-domain AJAX access in Firefox?

I'm working on development of a HTML5 web application that requires accessing resources from other domains through AJAX. On Chrome browser, there is a nice way to disable web security and allow cross-domain access for AJAX. However, when it comes to Firefox, there isn't an answer that I found. I'm sure this questions might have been asked a multiple times in various forums. But, does Firefox provide a way to disable this security feature and enable cross-domain access?

Product information: I'm running the latest Firefox on Windows 7 box.

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