Although not as deep as Zed's books/tutoriuals. I have created several screencasts about the topic. Basically, I show you what a UNIX-like filesystem looks like, some common commands, and then show you man pages by example. This should be enough to get someone going and teach them how to learn for themselves.

Crash Course on Common Commands @ http://sysadmincasts.com/episodes/13-crash-course-on-common-...

Crash Course on the Filesystem Hierarchy Standard @ http://sysadmincasts.com/episodes/12-crash-course-on-the-fil...

Crash Course on Man Pages @ http://sysadmincasts.com/episodes/19-crash-course-on-man-pag...

ps. there are many great HN threads about UNIX commands, here are just a few:

https://news.ycombinator.com/item?id=6360320

https://news.ycombinator.com/item?id=6046682

https://news.ycombinator.com/item?id=5022457

https://news.ycombinator.com/item?id=4985393