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To connect:
    mysql -uroot

To have launchd start mysql at login:
    ln -sfv /usr/local/opt/mysql/*.plist ~/Library/LaunchAgents
Then to load mysql now:
    launchctl load ~/Library/LaunchAgents/homebrew.mxcl.mysql.plist
Or, if you don't want/need launchctl, you can just run:
    mysql.server start