formName is self explanatory and the rest of the url should be easy to figure out. You'll need the unid of the doc you want to display which you should be able to get from your link and pass into the url.
Others have posted this solution for a printer friendly form, but you could probably tweak for your use as well.
@Rob - One other way is open the form you want and passing the param parentunid. Parentunid is equal to the docid you'd like to open.
It looks something like:
formName?OpenForm&Parentunid=6A94AD6208F06EA888256EF4006F7EA3
formName is self explanatory and the rest of the url should be easy to figure out. You'll need the unid of the doc you want to display which you should be able to get from your link and pass into the url.
Others have posted this solution for a printer friendly form, but you could probably tweak for your use as well.