- get on a secure wifi network (well you don't have to but you'd want to - trust me)
- run Terminal from your phone
- type "telnetd -l /system/bin/sh"
- obtain your phone's IP address from android settings
- run terminal software from your laptop/desktop
- telnet to the ip address
- when you're done, kill telnetd: "pkill telnetd"
[insert extremely satisfied happy face here]
UPDATE: Be sure to read my followup post here!