For anyone wondering, here's how you do it EASILY:
1. Download Android SDK (
Android SDK | Android Developers)
2. Extract the tar.gz file
3. In command line start the "tools/android" program
4. In the GUI, choose "Available Packages" and expand "Android Repository" and choose the 3.1 platform
5. Install it
6. At command line use the program "platform-tools/adb"
If you use "adb shell" it'll essentially ssh you into the device so you can use commands like "ls" to list files/folders
"adb push" puts files on the device, "adb pull" copies them from the device.