Basically, yes, but it might be a bit tricky.
The mount command that is used to read cds has a "session=x" option. Assuming cdroms are placed in the /cdrom directory on read, the command
mount -o session=2 /cdrom
as root will mount the second session of the disk. If mount says the disk is already mounted,
mount -o remount,session=2 /mnt/auto/cdrom
will mount it correctly.
This isn't the best method, but it is the easiest to setup. If you know what you are doing, create multiple mount points, one for each session, or do the same thing with automount points for ultimate convenience. (However, I'm not sure if multiple sessions of a disk can be mounted at once.)