Before performing ndk-build command, please do the following steps
cd pjsip-apps/build make pjsua
then perform ndk-build in /pjsip-apps/src/pjsua/android directory
have a look at the following blog
http://srikayala.wordpress.com/2013/12/05/pjsip-for-android-installation-on-mac-osx-mavericks/
for further information