Took me longer than I care to admit to solve this problem, so I thought I'd share how I got this working on Mac for the more novice users such as myself and also those who have not installed with Homebrew:
1) Open your bash profile file (the path to finding this file is 'User/.bash_profile', the name of your file may be .profile or something similar).
2) Add a path to wherever you have saved the Android SDK (you may add something like this: 'export PATH=${PATH}:/Applications/adt-bundle/sdk/platform-tools:/Applications/adt-bundle/sdk/tools' or you may add something like this: 'export PATH=${PATH}:/Desktop/adt-bundle/sdk/platform-tools:/Desktop/adt-bundle/sdk/tools').
Make sure the file name 'adt-bundle' shown in the path above is the name you have saved for the folder! If it isn't, either save the folder with this name, or alter the path to reflect what you have saved the folder as.
3) Try again. You might encounter some further errors, I resolved mine by visiting this page: Cordova 3.5.0 Install Error- Please Install Android Target 19 I typed 'Android' in the terminal to head straight to the package manager in Eclipse. After installing the required version the command worked and installed the Android package to my Cordova application.
I found the following pages very helpful in coming to the above conclusions:
-Understanding the path (needed a refresher on using path! Last time I had to bother with this was ages ago when installing the rbenv Ruby environment): http://help.exercism.io/understanding-path.html
-Setting up for Android (where I found the path): http://docs.phonegap.com/en/edge/guide_platforms_android_index.md.html#Using%20Plugman%20to%20Manage%0APlugins
No 'sudo' required.