This is a bit crude, but I think the ldd command is intended for your situation.
ldd is used to list the dynamicly loaded library dependencies for an executable. If ldd is unable to find a needed library, it indicates the library "not found."
As an example, if I run ldd with an old gqrx binary I found, I get the following output:
libgnuradio-audio.so.3.6.1 => not found
libgnuradio-osmosdr.so.0 => not found
libgnuradio-core.so.3.6.1 => not found
libgruel.so.3.6.1 => not found
libfftw3f.so.3 => /usr/lib/i386-linux-gnu/libfftw3f.so.3 (0x41b5d000)
libusb-1.0.so.0 => /lib/i386-linux-gnu/libusb-1.0.so.0 (0x422ee000)
libQtGui.so.4 => /usr/lib/i386-linux-gnu/libQtGui.so.4 (0x42e47000)
libQtCore.so.4 => /usr/lib/i386-linux-gnu/libQtCore.so.4 (0xb7cde000)
libpthread.so.0 => /lib/i386-linux-gnu/i686/cmov/libpthread.so.0 (0x411dc000)
As you can see, I've since upgraded the libgnuradio libraries and removed the older versions. ldd lists those missing libraries as "not found."