I am building an application that is for iOS6+. The application will have a main View Controller at one point in the application.
I would like this main view controller
for iOS6+:
I'd be inclined to use https://github.com/pkluz/PKRevealController and just set both left and right viewControllers to be pointers to a single viewController.
for iOS7+:
I think you should be looking into custom UIViewController transitions.
https://github.com/ColinEberhardt/VCTransitionsLibrary
http://www.teehanlax.com/blog/custom-uiviewcontroller-transitions/
There is a good WWDC 2013 video on this subject entitled "Custom transitions using view controllers", it's session 218.