Using Powershell Core Service module we can fetch list of components under folder, here is powerhshell function whcih can be used to fetch components under tridion folder

function GetComponentsFromFolder
{
 param
 (
 [string]$folderItem,
 [int]$indentDepth = 0
 )
 Begin
 {
 $tcmClient = Get-TridionCoreServiceClient -Verbose:($PSBoundParameters['Verbose'] -eq $true);
 }

Process
 {
 write-host "in GetComponentsFromFolder with " + $folderItem
 
 $groupFilter = New-Object Tridion.ContentManager.CoreService.Client.OrganizationalItemItemsFilterData

$itemList = New-Object System.Collections.ArrayList($null);

# For each item nested in the passed folder item, find item type. If item is another folder item, recurively loop through the new folder item.
 foreach ($element in $tcmClient.GetListXml($folderItem, $groupFilter).Nodes())
 {
 
 $elementId = $element.Attribute("ID").Value
 $elementTitle = $element.Attribute("Title").Value
 $elementType = $element.Attribute("Type").Value
 $elementSchema = $element.Attribute("SchemaId").Value

switch ($elementType)
 {
 # Folder
 "2"
 {
 # Send folder back through GetComponentsFromFolder
 $lst = GetComponentsFromFolder -folderItem $elementId -indentDepth $indentDepth + 1 
 if($null -ne $lst){
 if($lst.GetType().Name -eq "String"){
 [void]$itemList.Add($lst); 
 }else{
 [void]$itemList.AddRange($lst); 
 }
 }

}
 
 # Component
 "16"
 { 
 [void]$itemList.Add($elementId)
 }
 
 }
 }

return $itemList;
 }
 
 End
 {
 Close-TridionCoreServiceClient $tcmClient;
 }

}

and here how we can call the function on command line 

PS> GetComponentsFromFolder -folderItem "tcm:5-2341-2"