Just replace 's3://' with 'https://s3.amazonaws.com/'. You can use this link [1], but it looks like most of them are returning "Access Denied", so you would likely need to login with your AWS username/password to access them.
You need an Amazon account - though the data is available for free, I think you need to specify your access key to actually fetch it.
From there you can grab the S3 command line tools (http://s3tools.org/s3cmd) or load it up from hadoop or through one of the various open source libraries (boto for instance).
[1] https://s3.amazonaws.com/aws-publicdatasets/