[rubygems/rubygems] Let `gem exec` raise an error in ambiguous cases

When `gem exec foo` is run, and "foo" is a gem that has multiple
executables, none of them named "foo", raise an error explaining the
situation and telling user to be more specific.

Currently the first command in the executables array is run, but this
may come as surprising sometimes, so better raise an error.

https://github.com/rubygems/rubygems/commit/acda5d8f6e

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