As the article alluded to we are in many ways free falling and waiting to be crushed to death. It's just we are free falling through time rather than space.
It depends on what you mean by "inside" a black hole. If this means "inside the event horizon", well, if the black hole is big enough, you can put yourself in orbit around it relatively easily, you'll just never be able to achieve escape velocity. If you take the Earth for example, a geosync orbit has a velocity of 3.07km/s, whereas escape velocity is 11km/s
BTW most of what I know about black hole physics is from Greg Egan's novel "Incandescence". Which covers quite a lot of science for a work of fiction (and overall extremely inspiring).