Determine direct shared object dependencies of a Linux binary?

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You can use readelf to explore the ELF headers. readelf -d will list the direct dependencies as NEEDED sections.

 $ readelf -d elfbin

Dynamic section at offset 0xe30 contains 22 entries:
  Tag        Type                         Name/Value
 0x0000000000000001 (NEEDED)             Shared library: [libssl.so.1.0.0]
 0x0000000000000001 (NEEDED)             Shared library: [libc.so.6]
 0x000000000000000c (INIT)               0x400520
 0x000000000000000d (FINI)               0x400758
 ...

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