How do you build an iRule to re-direct a VIP to a server based on URL?

This is pretty straightforward. You can do something like:

when HTTP_REQUEST {
    if { [string tolower [HTTP::uri]] starts_with "/norwoodwsconfigbridge/norwoodwsconfigbridgeuri" } {
        HTTP::respond 301 Location "https://205.157.77.42:7002"
    } elseif  { [string tolower [HTTP::uri]] starts_with "/psigw/peoplesoftservice" } {
        HTTP::respond 301 Location "https://205.157.77.43:7000"
    }
}

FYI, this isn't tested, please run your checks before implementing in a production mode.