I was able to accomplish what I wanted by a combination of theme footer options and footer widgets. In the theme footer options I chose to have 4 footer sections. I then went into the widgets and for the footer widget 2 I added a text widget with a title of Useful Links and added the links I wanted to use in the text box. For footer widget 3, I added a text widget with no title and a few space characters as the "text" in the text box. This resulted in an empty column being displayed.