kubectl describe doesn’t support -o or equivalent. It’s meant to be human-readable rather than script-friendly. You can achieve what you described with kubectl get pods -l <selector_of_your_rc> -o <output_format>, for example:
$ kubectl get pods -l app=guestbook,tier=frontend -o name
pod/frontend-a4kjz
pod/frontend-am1ua
pod/frontend-yz2dq