I am not sure I understand waht you mean with expanding and collapsing. The menu can be set to show only the subalbums of the current album. See the documentation. You mean a JS toggle menu? The menus are all standard html list so you would have add specific JS functionality yourself. You might even need to create your own menu function, depending on what you need and the script used requires.
The menu manager works basically the same as the album menu, with a few differences in the html generate (see the source code). The menu manager links is somehow wrong but you should really be able to find it on the function documention yourself. http://www.zenphoto.org/documentation/plugins/_zp-extensions---menu_manager.php.html