I would try the android-menudrawer project at https://github.com/SimonVT/android-menudrawer which just hit 1.0.0 thanks to Jake Wharton.
I tried it out yesterday and it looks like it fits your needs.
If you build and install the sample APK, you'll see an example called "Right menu" which is what I think you're looking for. The other examples are variations of the normal sliding menu.
Here are screenshots of this sample APK (MenuDrawerSamples) in action. The first screenshot shows the Right Menu example with the menu drawer closed. Tap on the overflow menu item in the upper right corner and then it reveals the menu, as shown in the second screenshot. You could trigger it instead from another action bar button or other button if desired.
