How to see connected macs through terminal?

Been a while since I've been here; I have my iMac and MBpro connected via firewire, and they can see each other when I open the finder windows.

But I'd like to be able to 'see' each computer on the other via the terminal application; and I can't see them right now. I can transfer files via the finder windows, etc; but since I'd like to get under the hood, I want to do it from terminal just in case.

I used to be able to do this, but I forgot; can anyone help me out?

Both are running Yosemite.