With respect to this question, simply putting a jar into the /libs does not auto-magically include that jar into the .dex when invoking, say, ant debug. Not at least with Android SDK ver 15.
I've verified this by comparing the same project created two different ways. First (call it 'Alpha'), by Eclipse. Second, via android create project ..., blah blah blah (the Ant way, call it 'Bravo').
Both Alpha and Bravo I built using ant debug. Comparing their /bin dirs, the jar under <project_root>/libs is missing from Bravo's *.d; Alpha's aren't.
What magic is Eclipse embedding during project creation?
Better still, how can I ensure a jar is passed to ant debug|release when building a project, that a jar is included in the endstate?