It took some time but I figured it out.  The solution is to copy the 
following (/usr/lib/arm-linux-gnueabihf)
-rw-r--r-- 1 root root 3935832 Jan 21 17:29 libmysqlclient.a
lrwxrwxrwx 1 root root      16 Jan 21 17:29 libmysqlclient_r.a -> 
libmysqlclient.a
lrwxrwxrwx 1 root root      17 Jan 21 17:29 libmysqlclient_r.so -> 
libmysqlclient.so
lrwxrwxrwx 1 root root      20 Jan 21 17:29 libmysqlclient_r.so.18 -> 
libmysqlclient.so.18
lrwxrwxrwx 1 root root      24 Jan 21 17:29 libmysqlclient_r.so.18.0.0 -> 
libmysqlclient.so.18.0.0
lrwxrwxrwx 1 root root      20 Jan 21 17:29 libmysqlclient.so -> 
libmysqlclient.so.18
lrwxrwxrwx 1 root root      24 Jan 21 17:29 libmysqlclient.so.18 -> 
libmysqlclient.so.18.0.0
-rw-r--r-- 1 root root 2972964 Jan 21 17:29 libmysqlclient.so.18.0.0
-rw-r--r-- 1 root root   92998 May 13  2013 libz.a
lrwxrwxrwx 1 root root      38 May 13  2013 libz.so -> 
/lib/arm-linux-gnueabihf/libz.so.1.2.8
from the beaglebone onto the PC with eclipse (into 
/usr/arm-linux-gnueabihf/lib).  Then add a softlink:  ln -s libz.so 
libz.so.1
And then my commands in Eclipse looked like:
COMPILE:
arm-linux-gnueabihf-gcc -I/usr/include/mysql -O0 -g3 -Wall -c 
-fmessage-length=0 `mysql_config --cflags --libs` -MMD -MP -MF"main.d" 
-MT"main.d" -o "main.o" "../main.c"
LINKER:
arm-linux-gnueabihf-g++ -L/usr/arm-linux-gnueabihf/lib -o "test"  
./main.o   -lmysqlclient


And now I can cross compile my code to access mySQL in the BeagleBone.

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