fix(@angular/cli): improve error message for project-specific ng commands when run outside of a project

With this change we improve the error message when a project for command cannot be determined

```
Error: Cannot determine project for command.
This is a multi-project workspace and more than one project supports this command. Run "ng build [project]" to execute the command for a specific project or change the current working directory to a project directory.

Available projects are:
- project-name-0
- project-name-1
- project-name-2
- project-name-3
- project-name-4
- project-name-5
- project-name-6
- project-name-7
- project-name-8
- project-name-9
```

Closes angular#23481

Author: alan-agius4

packages/angular/cli/src/command-builder/architect-command-module.ts

@@ -144,8 +144,11 @@ export abstract class ArchitectCommandModule
       if (!getYargsCompletions && !help) {
         // Only issue the below error when not in help / completion mode.
         throw new CommandModuleError(
-          'Cannot determine project for command. ' +
-            'Pass the project name as a command line argument or change the current working directory to a project directory.',
+          'Cannot determine project for command.\n' +
+            'This is a multi-project workspace and more than one project supports this command. ' +
+            `Run "ng ${this.command}" to execute the command for a specific project or change the current ` +
+            'working directory to a project directory.\n\n' +
+            `Available projects are:\n${allProjectsForTargetName.map((p) => `- ${p}`).join('\n')}`,
         );
       }
     }