Does not apply to 5.6.10:

[openxs@chief Percona-Server-5.6.10-alpha60.2-324.Linux.x86_64]$ bin/mysql_config --libs
-L/tmp/Percona-Server-5.6.10-alpha60.2-324.Linux.x86_64/lib -lmysqlclient -lpthread -lm -lrt -ldl
[openxs@chief Percona-Server-5.6.10-alpha60.2-324.Linux.x86_64]$ ls -l lib
total 24316
-rw-r--r-- 1 openxs openxs 16862402 Mar 14 02:00 libmysqlclient.a
lrwxrwxrwx 1 openxs openxs       16 May 21 09:04 libmysqlclient_r.a -> libmysqlclient.a
lrwxrwxrwx 1 openxs openxs       17 May 21 09:04 libmysqlclient_r.so -> libmysqlclient.so
lrwxrwxrwx 1 openxs openxs       17 May 21 09:04 libmysqlclient_r.so.18 -> libmysqlclient.so
lrwxrwxrwx 1 openxs openxs       17 May 21 09:04 libmysqlclient_r.so.18.0.0 -> libmysqlclient.so
lrwxrwxrwx 1 openxs openxs       20 May 21 09:04 libmysqlclient.so -> libmysqlclient.so.18
lrwxrwxrwx 1 openxs openxs       24 May 21 09:04 libmysqlclient.so.18 -> libmysqlclient.so.18.0.0
-rwxr-xr-x 1 openxs openxs  8014994 Mar 14 02:00 libmysqlclient.so.18.0.0
-rw-r--r-- 1 openxs openxs    15086 Mar 14 01:59 libmysqlservices.a
drwxr-xr-x 3 openxs openxs     4096 Mar 14 02:01 plugin

Does not apply to 5.1.x:

[openxs@chief Percona-Server-5.1.68-rel14.6-551.Linux.x86_64]$ bin/mysql_config --libs
-rdynamic -L/tmp/Percona-Server-5.1.68-rel14.6-551.Linux.x86_64/lib/mysql -lmysqlclient -lz -lcrypt -lnsl -lm
[openxs@chief Percona-Server-5.1.68-rel14.6-551.Linux.x86_64]$ ls -l lib
total 4
drwxr-xr-x 3 openxs openxs 4096 Apr  5 22:54 mysql
[openxs@chief Percona-Server-5.1.68-rel14.6-551.Linux.x86_64]$ ls -l lib/mysql/
total 39428
-rw-r--r-- 1 openxs openxs   11178 Apr  5 22:53 libdbug.a
-rw-r--r-- 1 openxs openxs 1091324 Apr  5 22:53 libheap.a
-rw-r--r-- 1 openxs openxs 3858952 Apr  5 22:53 libmyisam.a
-rw-r--r-- 1 openxs openxs 1447988 Apr  5 22:54 libmyisammrg.a
-rw-r--r-- 1 openxs openxs 9523334 Apr  5 22:53 libmysqlclient.a
-rwxr-xr-x 1 openxs openxs    1005 Apr  5 22:53 libmysqlclient.la
-rw-r--r-- 1 openxs openxs 9571606 Apr  5 22:53 libmysqlclient_r.a
-rwxr-xr-x 1 openxs openxs    1059 Apr  5 22:53 libmysqlclient_r.la
lrwxrwxrwx 1 openxs openxs      26 May 21 08:58 libmysqlclient_r.so -> libmysqlclient_r.so.16.0.0
lrwxrwxrwx 1 openxs openxs      26 May 21 08:58 libmysqlclient_r.so.16 -> libmysqlclient_r.so.16.0.0
-rwxr-xr-x 1 openxs openxs 5177409 Apr  5 22:53 libmysqlclient_r.so.16.0.0
lrwxrwxrwx 1 openxs openxs      24 May 21 08:58 libmysqlclient.so -> libmysqlclient.so.16.0.0
lrwxrwxrwx 1 openxs openxs      24 May 21 08:58 libmysqlclient.so.16 -> libmysqlclient.so.16.0.0
-rwxr-xr-x 1 openxs openxs 5151986 Apr  5 22:53 libmysqlclient.so.16.0.0
-rw-r--r-- 1 openxs openxs 2461832 Apr  5 22:53 libmystrings.a
-rw-r--r-- 1 openxs openxs 1954024 Apr  5 22:53 libmysys.a
-rw-r--r-- 1 openxs openxs   82036 Apr  5 22:54 libvio.a
drwxr-xr-x 2 openxs openxs    4096 Apr  5 23:09 plugin

But still applies to 5.5.30-30.2:

[openxs@chief Percona-Server-5.5.30-rel30.2-500.Linux.x86_64]$ bin/mysql_config --libs
-L/tmp/Percona-Server-5.5.30-rel30.2-500.Linux.x86_64/lib/mysql -lmysqlclient -lpthread -lm -lrt -lssl -lcrypto -ldl
[openxs@chief Percona-Server-5.5.30-rel30.2-500.Linux.x86_64]$ ls -l lib/mysql
total 1412
lrwxrwxrwx 1 openxs openxs      16 May 21 10:19 libjemalloc.so -> libjemalloc.so.1
-rwxr-xr-x 1 openxs openxs 1438233 Mar 22 16:54 libjemalloc.so.1
drwxrwxr-x 3 openxs openxs    4096 Mar 22 16:53 plugin
[openxs@chief Percona-Server-5.5.30-rel30.2-500.Linux.x86_64]$ ls -l lib
total 14100
-rw-r--r-- 1 openxs openxs 9316402 Mar 22 16:47 libmysqlclient.a
lrwxrwxrwx 1 openxs openxs      16 May 21 10:19 libmysqlclient_r.a -> libmysqlclient.a
lrwxrwxrwx 1 openxs openxs      17 May 21 10:19 libmysqlclient_r.so -> libmysqlclient.so
lrwxrwxrwx 1 openxs openxs      17 May 21 10:19 libmysqlclient_r.so.18 -> libmysqlclient.so
lrwxrwxrwx 1 openxs openxs      17 May 21 10:19 libmysqlclient_r.so.18.0.0 -> libmysqlclient.so
lrwxrwxrwx 1 openxs openxs      20 May 21 10:19 libmysqlclient.so -> libmysqlclient.so.18
lrwxrwxrwx 1 openxs openxs      24 May 21 10:19 libmysqlclient.so.18 -> libmysqlclient.so.18.0.0
-rwxr-xr-x 1 openxs openxs 5099559 Mar 22 16:47 libmysqlclient.so.18.0.0
-rw-r--r-- 1 openxs openxs    9840 Mar 22 16:43 libmysqlservices.a
drwxr-xr-x 3 openxs openxs    4096 Mar 22 16:54 mysql