I ran into this issue in Eclipse on Mac OS X v10.9 (Mavericks). I tried many answers on Stack Overflow ... finally, after a full day I *installed a fresh version of the Android SDK (and updated Eclipse, menu Project → Properties → Android to use the new path)*.
I had to get SDK updates, but only pulling down those updates I thought were necessary, avoiding APIs I were not working with (like Wear and TV) .. and that did the trick. Apparently, it seems I had corrupted my SDK somewhere along the way.
BTW .. I did see the error re-surface with one project in my workspace, but it seemed related to an import of appcompat-7, which I was not using. After rm-ing that project, so far haven't seen the issue resurface.
