The pom.xml for com.google.appengine:appengine-api-1.0-sdk:1.9.71 does not declare its own dependencies as this example demonstrates:
$ mvn exec:java
[INFO] Scanning for projects...
[INFO]
[INFO] ------------------------------------------------------------------------
[INFO] Building appengineapisdkexample 0.0.1-SNAPSHOT
[INFO] ------------------------------------------------------------------------
[INFO]
[INFO] --- exec-maven-plugin:1.6.0:java (default-cli) @ appengineapisdkexample ---
[WARNING]
java.lang.NoClassDefFoundError: com/google/net/rpc3/client/RpcStubCreationFilter
at com.google.cloud.tools.examples.AppEngineApiSdkExample.main(AppEngineApiSdkExample.java:10)
at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
at java.lang.reflect.Method.invoke(Method.java:498)
at org.codehaus.mojo.exec.ExecJavaMojo$1.run(ExecJavaMojo.java:282)
at java.lang.Thread.run(Thread.java:748)
Caused by: java.lang.ClassNotFoundException: com.google.net.rpc3.client.RpcStubCreationFilter
at java.net.URLClassLoader.findClass(URLClassLoader.java:382)
at java.lang.ClassLoader.loadClass(ClassLoader.java:424)
at java.lang.ClassLoader.loadClass(ClassLoader.java:357)
... 7 more
[INFO] ------------------------------------------------------------------------
[INFO] BUILD FAILURE
[INFO] ------------------------------------------------------------------------
[INFO] Total time: 1.166 s
[INFO] Finished at: 2019-01-31T15:55:53-05:00
[INFO] Final Memory: 7M/155M
[INFO] ------------------------------------------------------------------------
[ERROR] Failed to execute goal org.codehaus.mojo:exec-maven-plugin:1.6.0:java (default-cli) on project appengineapisdkexample: An exception occured while executing the Java class. com/google/net/rpc3/client/RpcStubCreationFilter: com.google.net.rpc3.client.RpcStubCreationFilter -> [Help 1]
[ERROR]
[ERROR] To see the full stack trace of the errors, re-run Maven with the -e switch.
[ERROR] Re-run Maven using the -X switch to enable full debug logging.
[ERROR]
[ERROR] For more information about the errors and possible solutions, please read the following articles:
[ERROR] [Help 1] http://cwiki.apache.org/confluence/display/MAVEN/MojoExecutionException