I would suggest just set the iPod down and let the battery die. That should free it up from any thing that is keeping it trap.
It a flaw in the programing for the iPod that I know dates back to the G4 iPods. My G4 has done it a few times always on a force disconnect of some type. when ever it happen I would just leave the ipod on the shelf and let the battery die. after that it would reboot and work fine.