It looks like I found the solution: The jar file containing MiniYARNCluster is not part of Hadoop classpath by default, it must be added explicitly into HADOOP_CLASSPATH. The snippet below worked fine:
export HADOOP_CLASSPATH=./share/hadoop/yarn/test/hadoop-yarn-server-tests-2.2.0-tests.jar
./bin/hadoop jar ./share/hadoop/mapreduce/hadoop-mapreduce-client-jobclient-2.2.0-tests.jar minicluster