Do this:
The first tilde can not be quoted so your home directory is filled in. The rest of it needs to be quoted.
This appears in my case to be all of the PDFs that I have in my "Books" (app). Ok... That's not so weird. But first notice that the last piece of the path is Documents (not Books). And now hold command and click on "Books" and see the list is iCloud Drive => Books and, as the final, not so odd oddity, if you go up to iCloud Drive you see that Books isn't listed (hidden).
open ~'/Library/Mobile Documents/iCloud~com~apple~iBooks/Documents'
The first tilde can not be quoted so your home directory is filled in. The rest of it needs to be quoted.
This appears in my case to be all of the PDFs that I have in my "Books" (app). Ok... That's not so weird. But first notice that the last piece of the path is Documents (not Books). And now hold command and click on "Books" and see the list is iCloud Drive => Books and, as the final, not so odd oddity, if you go up to iCloud Drive you see that Books isn't listed (hidden).