Neither of these answered my question:
The instructions in that thread seem to be specific to Gnome or compizconfig-settings-manager. That application looks a bit dangerous so I'm wondering if there's a way to do this without it. There's a keyboard shortcuts dialog but I couldn't find F10 in there.
This shortcut is colliding with a shortcut in Chrome that is used for debugging. It's pretty annoying that Ubuntu would assume no applications would be using the F10 key. I use at least 3 applications that need that key frequently.
I'm using ubuntu 11.10