From what I am reading, there is a setting for a gateway that I just have to change to the gateway of my other machines.
Yep, pretty much.
For example, say the default gateway on the WRT is 192.168.1.1 and my other gateway that I use *WITHOUT* using the NAT functions and routing on the WRT is 10.0.1.1.... I need to chance a setting in the WRT to 10.0.1.1 enable for my router(WRT) to just act as a switch?
So if you don't have the WRT plugged in, your default gateway is 10.0.1.1, am I reading that right?
If so, yeah, you need to change the default gateway on the WRT to match. (But only if you need ipkg; otherwise, the default gateway setting on the WRT isn't really used.)
Wouldn't it still give IP address to each machine via DCHP or would static then have to be in order?
I believe it will still run a DHCP server, yes. If you want to disable that, edit whichever init script starts up dnsmasq, and comment out the line that actually starts it. (Assuming you don't need DNS either -- if you need it to do DNS, you can edit the dnsmasq.conf file to disable DHCP, I think.)
What commands to do all this?
To set the default gateway:
route del default
route add default gw 10.0.1.1
The rest is done by editing files, so you need to know how to use vi. (Unless there's another editor installed in OpenWRT? I don't think so, though.)