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.