To do this, you will need to run echo e interface usb. You can then access the Raspberry Pi Zero by connecting to 1. Bonjour installed Mac and most Linux OSs including Raspbian. Note this method does not support adding a fixed address to the cmdline. For that, you have to use the Ethernet only kernel below. To have your Pi Zero appear as a mass storage device flash drive, first create a mini filesystem in a file on your Pi with sudo dd ifdevzero ofpiusb. Then, when enabling it, add filepiusb. In theory, most USB devices should work alongside these kernels, to switch to USB OTG mode, simply dont use an OTG adapter cable and use a standard USB cable to plug your Pi Zero into another computer, it should auto switch. The legacy guides can be found on a separate Gist.