xdisasm is a simple binary file disassembler based on libopcodes and bfd from binutils. It uses the libxdisasm library which currently supports x86, x86_64, arm, ppc and mips. The idea is to try and mimic the output given by the ndisasm program which unfortunately only supports x86/x86_64.
git clone --recursive https://github.com/acama/xdisasm.git
make
./xdisasm -m arm testfiles/helloworld_arm_le.bin
00000000 E28F1014 add r1, pc, #20
00000004 E3A00001 mov r0, #1
00000008 E3A0200C mov r2, #12
0000000C E3A07004 mov r7, #4
00000010 EF000000 svc 0x00000000
00000014 E3A07001 mov r7, #1
00000018 EF000000 svc 0x00000000
0000001C 6C6C6548 cfstr64vs mvdx6, [ip], #-288 ; 0xfffffee0
00000020 6F57206F svcvs 0x0057206f
00000024 0A646C72 beq 0x191b1f4
./xdisasm -m arm testfiles/helloworld_arm_be.bin -lb
00000000 E28F1014 add r1, pc, #20
00000004 E3A00001 mov r0, #1
00000008 E3A0200C mov r2, #12
0000000C E3A07004 mov r7, #4
00000010 EF000000 svc 0x00000000
00000014 E3A07001 mov r7, #1
00000018 EF000000 svc 0x00000000
0000001C 48656C6C stmdami r5!, {r2, r3, r5, r6, sl, fp, sp, lr}^
00000020 6F20576F svcvs 0x0020576f
00000024 726C640A rsbvc r6, ip, #167772160 ; 0xa000000
./xdisasm -m x86 -b64 testfiles/helloworld_x86_64.bin
00000000 488D3518000000 lea rsi,[rip+0x18] # 0x1f
00000007 B801000000 mov eax,0x1
0000000C BF01000000 mov edi,0x1
00000011 BA0C000000 mov edx,0xc
00000016 0F05 syscall
00000018 B83C000000 mov eax,0x3c
0000001D 0F05 syscall
0000001F 48 rex.W
00000020 65 gs
00000021 6C ins BYTE PTR es:[rdi],dx
00000022 6C ins BYTE PTR es:[rdi],dx
00000023 6F outs dx,DWORD PTR ds:[rsi]
00000024 20576F and BYTE PTR [rdi+0x6f],dl
00000027 726C jb 0x95
00000029 64 fs
0000002A 0A .byte 0xa
./xdisasm -m powerpc testfiles/helloworld_ppc_le.bin
00000000 48000020 b 0x20
00000004 38600001 li r3,1
00000008 38A0000C li r5,12
0000000C 7C8802A6 mflr r4
00000010 38000004 li r0,4
00000014 44000002 sc
00000018 38000001 li r0,1
0000001C 44000002 sc
00000020 4BFFFFE5 bl 0x4
00000024 6C6C6548 xoris r12,r3,25928
00000028 6F57206F xoris r23,r26,8303
0000002C 0A646C72 tdi 19,r4,27762