For ELF,

   $ gcc -fPIC -c *.c
   $ gcc -shared -Wl,-soname,libfoo.so.1 -o libfoo.so.1.0 *.o

For a.out, get tools-n.nn.tar.gz from tsx-11.mit.edu/pub/linux/packages/GCC/src/. It comes with documentation that will tell you what to do. Note that a.out shared libraries are a very tricky business. Consider upgrading your libraries to ELF shared libraries. See the ELF HOWTO, at ftp://metalab.unc.edu/pub/Linux/docs/HOWTO/