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Rabin2 can list libraries used by a binary with the -l option:

$ rabin2 -l `which r2`
[Linked libraries]
libr_core.so
libr_parse.so
libr_search.so
libr_cons.so
libr_config.so
libr_bin.so
libr_debug.so
libr_anal.so
libr_reg.so
libr_bp.so
libr_io.so
libr_fs.so
libr_asm.so
libr_syscall.so
libr_hash.so
libr_magic.so
libr_flag.so
libr_egg.so
libr_crypto.so
libr_util.so
libpthread.so.0
libc.so.6

22 libraries

Lets check the output with ldd command:

$ ldd `which r2`
linux-vdso.so.1 (0x00007fffba38e000)
libr_core.so => /usr/lib64/libr_core.so (0x00007f94b4678000)
libr_parse.so => /usr/lib64/libr_parse.so (0x00007f94b4425000)
libr_search.so => /usr/lib64/libr_search.so (0x00007f94b421f000)
libr_cons.so => /usr/lib64/libr_cons.so (0x00007f94b4000000)
libr_config.so => /usr/lib64/libr_config.so (0x00007f94b3dfa000)
libr_bin.so => /usr/lib64/libr_bin.so (0x00007f94b3afd000)
libr_debug.so => /usr/lib64/libr_debug.so (0x00007f94b38d2000)
libr_anal.so => /usr/lib64/libr_anal.so (0x00007f94b2fbd000)
libr_reg.so => /usr/lib64/libr_reg.so (0x00007f94b2db4000)
libr_bp.so => /usr/lib64/libr_bp.so (0x00007f94b2baf000)
libr_io.so => /usr/lib64/libr_io.so (0x00007f94b2944000)
libr_fs.so => /usr/lib64/libr_fs.so (0x00007f94b270e000)
libr_asm.so => /usr/lib64/libr_asm.so (0x00007f94b1c69000)
libr_syscall.so => /usr/lib64/libr_syscall.so (0x00007f94b1a63000)
libr_hash.so => /usr/lib64/libr_hash.so (0x00007f94b185a000)
libr_magic.so => /usr/lib64/libr_magic.so (0x00007f94b164d000)
libr_flag.so => /usr/lib64/libr_flag.so (0x00007f94b1446000)
libr_egg.so => /usr/lib64/libr_egg.so (0x00007f94b1236000)
libr_crypto.so => /usr/lib64/libr_crypto.so (0x00007f94b1016000)
libr_util.so => /usr/lib64/libr_util.so (0x00007f94b0d35000)
libpthread.so.0 => /lib64/libpthread.so.0 (0x00007f94b0b15000)
libc.so.6 => /lib64/libc.so.6 (0x00007f94b074d000)
libr_lang.so => /usr/lib64/libr_lang.so (0x00007f94b0546000)
libr_socket.so => /usr/lib64/libr_socket.so (0x00007f94b0339000)
libm.so.6 => /lib64/libm.so.6 (0x00007f94affaf000)
libdl.so.2 => /lib64/libdl.so.2 (0x00007f94afdab000)
/lib64/ld-linux-x86-64.so.2 (0x00007f94b4c79000)
libssl.so.1.0.0 => /usr/lib64/libssl.so.1.0.0 (0x00007f94afb3c000)
libcrypto.so.1.0.0 => /usr/lib64/libcrypto.so.1.0.0 (0x00007f94af702000)
libutil.so.1 => /lib64/libutil.so.1 (0x00007f94af4ff000)
libz.so.1 => /lib64/libz.so.1 (0x00007f94af2e8000)

If you compare the outputs of rabin2 -l and ldd, you will notice that rabin2 lists fewer libraries than ldd. The reason is that rabin2 does not follow and does not show dependencies of libraries. Only direct binary dependencies are shown.