The error message proved to be true as Apache Ant isn’t in the path of Mac OS X Mavericks anymore.
Bulletproof solution:
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Download and install Homebrew by executing following command in terminal:
ruby -e “$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)”
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Install Apache Ant via Homebrew by executing
brew install ant
Run the PhoneGap build again and it should successfully compile and install your Android app.