Your first attempt is trying to link the libssh.o from your host environment instead of your target environment. This is because the command "pkg-config --cflags --libs libssh" returns the package configuration of libssh on your host machine.
You will need to obtain or compile up a copy of libssh specifically for the target environment (ARM).
If compiling it yourself (likely your only option, for me at least a quick google did not reveal any suitable pre-built package) then you should specify a separate installation directory, eg. in your home directory somewhere. This will result in separate include and lib dirs, containing the cross compiled libssh, which you can reference from your own compilation commands, eg:
arm-none-linux-gnueabi-gcc -I{includedir} -L{libdir} ssh.c -o arm -lssh
Note that libssh in turn relies on other libraries - openssl and zlib - which you also have to cross-compile.