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I think the issue is around the lack of the Ruby shared-libraries when using RVM (or rbenv).

For RVM, when you install the ruby, make sure to pass in the config flag for 'enable-shared'

rvm install 2.0.0 -C --enable-shared

If you use rbenv, then you need to export the environment variable

RUBY_CONFIGURE_OPTS=--enable-shared rbenv install 2.0.0-p353

You should then be able to do:

irb -I <path-to-openstudio.rb>

e.g. irb -I /Application/OpenStudio\ 1.7.5/Ruby/

I prefer to set an environment variable that points to my version of OpenStudio. In my .bash_profile, I add:

export RUBYLIB="/Applications/OpenStudio 1.7.5/Ruby"