I would love to get the Fire breath Word Wall located here for my fire elementalist, but don't want to have to join the Companions to start the quest that unlocks this dungeon.

Is there any way through console commands to get inside without breaking the game?

You might try the TeachWord command

player.teachword (WordFormID)

Consult the UESP for formIDs for specific words to a Shout: http://www.uesp.net/wiki/Skyrim:Fire_Breath

http://www.darkcreations.org/files/file/402-freedom-of-speech/

Awesome, thanks for the links. So that command with the fire breath ID will simply add it to my skills similar to how other commands add items to your inventory?

Yep, it should do that.

An alternative for the future is to get the Freedom of Speech mod by Thomas Kaira. It's on Dark Creations and comes in two versions, one for standalone Skyrim and another for Dawnguard. It moves all of the quest locked word walls to accessible locations.

I haven't tried it myself, but if you don't intend to join the Companions at all, there is also a mod called http://www.nexusmods.com/skyrim/mods/65018/ that opens them up.

I tried it, would not recommend if using a already-existing save

That's true. It's one of those mods.

A method of glitching it I found is to go to the Throat of the World and learn shout after he casts it on the wall, then use a Dragon Soul to unlock it before he gifts you the knowledge. After the knowledge is given, you'll have the first 2 parts of the word unlocked. After that, you just need to find an additional word wall, and one of them is in some random cave, don't remember the name though.

Console command worked like a charm and I didn't have to break my RP and join the Companions with my http://steamcommunity.com/sharedfiles/filedetails/?id=288862996. Thanks everyone!