Linking shared libraries with dependencies

I have a program which is dependent upon a library (called "libFoo.so" here). libFoo.so is also dependent upon a number of other libraries: libVendor.so, libFooVendor.so, and liblog.so. Whenever I try to link against just libFoo.so, ie arm-linux-gnueabi-gcc -o myprogram main.c -lFoo, and run the program, I get "undefined symbol: main".

However, if I link in the other libraries via arm-linux-gnueabi-gcc -o myprogram main.c -lFoo -lFooVendor -lVendor -llog everything works.

I know this isn't the "right" way to handle a library that is dependent on other libraries. I should be using rpath or rpath-link. All of the libraries for my program are in /usr/lib/. When I try to use rpath=/usr/lib or rpath-link=[path to my libraries in my cross compilation chain], it doesn't seem to affect the result. I still get "undefined symbol: main"

How can I resolve this? Should I be creating libFoo.so differently? It's made with (header includes and shared library paths removed) arm-linux-gnueabi-gcc -o libFoo.so -shared -fPIC source.c -lFooVendor -lVendor -llog

Example: libFoo.so

arm-linux-gnueabi-readelf -d out/libFoo.so 

Dynamic section at offset 0x7e1a8 contains 33 entries:
  Tag        Type                         Name/Value
 0x00000003 (PLTGOT)                     0x7f738
 0x00000002 (PLTRELSZ)                   13400 (bytes)
 0x00000017 (JMPREL)                     0x3bc18
 0x00000014 (PLTREL)                     REL
 0x00000011 (REL)                        0x3b420
 0x00000012 (RELSZ)                      2040 (bytes)
 0x00000013 (RELENT)                     8 (bytes)
 0x6ffffffa (RELCOUNT)                   27
 0x00000006 (SYMTAB)                     0x158
 0x0000000b (SYMENT)                     16 (bytes)
 0x00000005 (STRTAB)                     0x94b8
 0x0000000a (STRSZ)                      180325 (bytes)
 0x00000001 (NEEDED)                     Shared library: [libFooVendor.so.0]
 0x00000001 (NEEDED)                     Shared library: [libVendor.so.0]
 0x00000001 (NEEDED)                     Shared library: [liblog.so.0]
 0x00000001 (NEEDED)                     Shared library: [libstdc++.so.6]
 0x00000001 (NEEDED)                     Shared library: [libm.so.6]
 0x00000001 (NEEDED)                     Shared library: [libgcc_s.so.1]
 0x00000001 (NEEDED)                     Shared library: [libc.so.6]
 0x0000000c (INIT)                       0x3f070
 0x0000000d (FINI)                       0x76504
 0x00000019 (INIT_ARRAY)                 0x7f334
 0x0000001b (INIT_ARRAYSZ)               28 (bytes)
 0x0000001a (FINI_ARRAY)                 0x7f350
 0x0000001c (FINI_ARRAYSZ)               4 (bytes)
 0x6ffffff0 (VERSYM)                     0x3a0e8
 0x6ffffffc (VERDEF)                     0x3b354
 0x6ffffffd (VERDEFNUM)                  1
 0x6ffffffe (VERNEED)                    0x3b370
 0x6fffffff (VERNEEDNUM)                 3
 0x00000000 (NULL)                       0x0

Example: program linked only with -lFoo

arm-linux-gnueabi-readelf -d out/myprogram 

Dynamic section at offset 0xc5c contains 27 entries:
  Tag        Type                         Name/Value
 0x00000003 (PLTGOT)                     0x9d74
 0x00000002 (PLTRELSZ)                   128 (bytes)
 0x00000017 (JMPREL)                     0x855c
 0x00000014 (PLTREL)                     REL
 0x00000011 (REL)                        0x8554
 0x00000012 (RELSZ)                      8 (bytes)
 0x00000013 (RELENT)                     8 (bytes)
 0x00000015 (DEBUG)                      0x0
 0x00000006 (SYMTAB)                     0x81ac
 0x0000000b (SYMENT)                     16 (bytes)
 0x00000005 (STRTAB)                     0x833c
 0x0000000a (STRSZ)                      398 (bytes)
 0x6ffffef5 (GNU_HASH)                   0x84cc
 0x00000001 (NEEDED)                     Shared library: [libFoo.so]
 0x00000001 (NEEDED)                     Shared library: [libc.so.6]
 0x0000000c (INIT)                       0x85dc
 0x0000000d (FINI)                       0x8c14
 0x00000019 (INIT_ARRAY)                 0x9d64
 0x0000001b (INIT_ARRAYSZ)               4 (bytes)
 0x0000001a (FINI_ARRAY)                 0x9d68
 0x0000001c (FINI_ARRAYSZ)               4 (bytes)
 0x6ffffff0 (VERSYM)                     0x8500
 0x6ffffffe (VERNEED)                    0x8534
 0x6fffffff (VERNEEDNUM)                 1
 0x00000000 (NULL)                       0x0