Make a new folder on the desktop, and drag the pdfs you like to print in there.
Open the terminal, type
cd
and a space. Then drag the folder you just created on to the terminal window. OS X will put the path there. So your shell command looks something like this:
cd /Users/yourName/Desktop/FolderYouMadeThatHasThePDFs
hit enter.
Then you can simply print all PDF files in that folder by copy pasting this:
for i in *pdf ; do echo $i ; lp $i ; done