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I'm probably wrong, but can you not type "ps" into CMD and get the PowerShell prompt? If so, can you do it the other way around as well?

It's actually 'powershell' and not just 'ps', but you are right. Typing 'powershell' gets you to PS and typing 'cmd' gets you the command prompt.

you can run "powershell" from a CMD prompt and "cmd" from a powershell prompt.

You can also nest prompts to switch context between them.

You can also `start /b cmd` for some very interesting results. I still have not understood why this works this way.