This is actually easier than you think - it SlidingDraweris part of the Android SDK. Just identify the layouts that will be used for your pen drawer and your drawer contents, and you're done. From the docs:
<SlidingDrawer
android:id="@+id/drawer"
android:layout_width="match_parent"
android:layout_height="match_parent"
android:handle="@+id/handle"
android:content="@+id/content">
<ImageView
android:id="@id/handle"
android:layout_width="88dip"
android:layout_height="44dip" />
<GridView
android:id="@id/content"
android:layout_width="match_parent"
android:layout_height="match_parent" />
</SlidingDrawer>
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