I wasn't able to find a solution that didn't utilize local port forwarding. A potential non port forward solution could be to get a PTY from the first connection, then just execute ssh; but, in initial testing the new session did not seem to transfer over for me.
The best solution I found for this tunneling requirement was found in a piece of code here in the overthere project.
UPDATE: I answered a similar question with some code here: https://stackoverflow.com/a/16023513/311525