Excellent advice Thagomizer and mikesbike; I love this community!
I didn't even think to check the aperture lever Thagomizer; I will do this when I get home from work. That thread you shared is extremely insightful as well; I sure hope it isn't my K-3 (sort of hoping I could hold out until the new body hits the streets). While I haven't noticed it on any other lens, since I purchased my 16-85mm it's on the K-3 the majority of the time so it may be hard for me to catch the problem with another lens if it is this random. I will start paying more attention for sure.
Mikesbike, yeah you are right, no visible dirt came off the contacts. Since Thagomizer mentioned it, I wonder if it wasn't cleaning the contacts that "fixed" the problem, but hitting the aperture lever while cleaning the contacts that "unstuck" it. I completely agree a call to Ricoh is in order. I'll try to keep this thread updated if I learn anything.
You guys rock!