I was able to user the SPSecurityTrimmedControl to accomplish this:
I originally set the display property to s4-leftpanel to "none" and then had this block of code after this panel:
<Sharepoint:SPSecurityTrimmedControl runat="server" Permissions="FullMask">
<script type="text/javascript">
document.getElementById("s4-leftpanel").style.display = "block";
</script>
</Sharepoint:SPSecurityTrimmedControl>
I also performaned the same for the margin of the MSO_ContentTable.I set it to 0px and then ran this code after that div:
<Sharepoint:SPSecurityTrimmedControl runat="server" Permissions="FullMask">
<script type="text/javascript">
document.getElementById("MSO_ContentTable").style.marginLeft = "155px";
</script>
</Sharepoint:SPSecurityTrimmedControl>