The adb program is available here: http://people.openmoko.org/sean_mcneil/adb
Download it and put it somewhere and make it executable.
Then save this set of commands as a bash script with a name like connect or whatever.
#!/bin/bash
$/usr/local/share/adb kill-server
$ADBHOST=192.168.0.202 /usr/local/share/adb devices
$/usr/local/share/adb shell
Make this executable and then run it. It should drop you automatically into the shell interface on your freerunner.
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