Try
man mount_afp
mount_afp mounts afp volumes from the command line. It will probably do what you want. It is quite useful for remote administration. It also makes it possible to mount volumes somewhere other than in /Volumes, so you can mount a volume over a private directory.

The problem is that the Install CD does not have the necessary frameworks installed to use the mount_afp tool.

The frameworks are in the installer packages on the CD but there's no gunzip to retrieve the pax file, installer only extracts packages according to the .bom file and there's no tool to edit the .bom file. You could mount an additional RAM disk and install the BSD.pkg package on it to get gunzip. Then you'll also need around 450MB free on a RAM disk to extract the pax file from the Essentials.pkg package in order to finally get the frameworks we're missing for mount_afp.

As far as I see it there's really no easy way to enable afp drive mounting on an 'out-of-the-box' Mac OS X Install CD but there's always the possibility to create a custom Mac OS X Install CD.