Take a look at ARM Development Studio 5 (DS-5). The Community Edition is free for non-commercial use and offers integration with the NDK in Eclipse.
Further, I believe if you dig around a bit you'll find non-official instructions from various sources on how to integrate the NDK in Elipse. For example, look at some of this:
- Using Eclipse for Android C/C++ Development
- Using Eclipse for Android C/C++ Debugging
