You can find those programs in /afs/nd.edu/user37/ccl/software/external/ffmpeg/bin on the CSE student machines.
Use the very handy function sprintf, which is like printf but puts the result in a string. Then, re-use what you learned in the previous project to split the string into words. For example, something like this:
char command[256];
char *words[100];
sprintf(command,"./mandel -x -.5 -y .5 -m 2000 -s %lf",zoom);
word[0] = strtok(command," ");
while(1) {
...
}
These are in the math library, so you need to include math.h and add the argument -lm to your link line.