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http://imgur.com/a/FgNFD
Sorry it is not very pretty. I just did it real quick as a visual aid. You can use the simple stairs instead of custom stairs and then use platforms or custom foundations to make the next set of simple stairs higher than the first. Line them up and you got yourself a staircase leading to a hole in the second floor. Hopefully there is enough room for the staircase to fit inside your structure and line up with the hole.
Another option is to build a platform right under the second floor hole close enough so you can jump to the second floor from the top of the platform. You then attach a rope to the platform, climb up it, and then jump to the second floor.
Another option is to combine the two ideas. You can build a platform to climb up with a rope and a set of simple stairs on top of the platform leading to the hole so you don't have to jump.