You can achieve this by implementing android:actionBarTabStyle
using ActionBarSherlock library.
Update:
I don't have idea exactly about this, but hope you know Android team has integrated the same pattern in I/O 2013 Android app and it will open sourced soon.
Update 2:
I just came across one library which can fulfill your requirement, check this: https://github.com/astuetz/PagerSlidingTabStrip