I think Square is the best bet (www.squareup.com). I see them all over the Bay Area - at coffee shops, craft fairs, etc. And I think they charge a small fixed fee, instead of the high variable fees that the other card readers charge.
I know you can buy fairly sturdy 6' long folding tables at Target for $20. Most of these cheap tables are hideous though, so you'll want to drape something over them.