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This works in combination with http://www.commandlinefu.com/commands/view/10496/identify-exported-sonames-in-a-path as it reports the NEEDED entries present in the files within a given path. You can then compare it with the libraries that are exported to make sure that, when cross-building a firmware image, you're not bringing in dependencies from the build host.
The short version of it as can be seen in the same output is
scanelf -RBnq -F "+n#f" $1 | tr ',' '\n' | sort -u
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