I have this working now. I don't know what 'meta_key' => 'wpcf-description' is supposed to do but it was causing my query to return zero results.
Here is the code that is functioning as desired. Please let me know if you have any suggestions for improvement:
<?php
$parent_id = wpcf_pr_post_get_belongs(get_the_ID(), 'course_category');
$childargs = array(
'post_type' => 'course',
'numberposts' => -1,
'orderby' => 'menu_order',
'order' => 'ASC',
'meta_query' => array(array('key' => '_wpcf_belongs_course_category_id', 'value' => $parent_id))
);
$child_posts = get_posts($childargs);
foreach ($child_posts as $child) {
if($child->post_title!=$post->post_title){
echo $child->post_title.'<br/>';
}
}
?>