To spin a true worsted yarn you will need to use combs and a diz. If you don't mind a semi-woolen, then you can use hand carders. Large slicker combs for dogs can be bought very economically from pet stores and used as hand carders.
Rexenne on You Tube has a couple of excellent videos that will show you exactly what to do with combs and a diz. search for "Using Indigo Hound Combs Pt1" and you will come up with her series of videos.
there is also a specific technique for spinning true worsted yarn which you can find at http://www.joyofhandspinning.com. it is the combination of the preparation of the fiber in a specific way together with the specific technique of worsted spinning (essentially putting a lot more twist in than woolen spinning and smoothing down the yarn before you feed it onto the bobbin) that creates a worsted yarn.
expensive equipment isn't necessary to spin any kind of yarn. using a drop spindle is always an option whether you are spinning worsted or woolen. they can be quite inexpensive and is an excellent way to learn. i believe there may even be videos on you tube for spinning a worsted yarn using a drop spindle but i prefer a wheel so i never bothered to learn to spin worsted on a drop spindle.