To add the necessary dependencies to your classpath, follow the below mentioned steps.
Go to "ESB_HOME/bin" directory.
Issue the command "ant" which will copy all the libraries you would want to have in your classpath in doing custom developments with ESB to "ESB_HOME/repository/lib" directory. (make sure you have ant installed first)
Add the "ESB_HOME/repository/lib" jar directory to the classpath.
Execute your client.
Hope this helps.
Regards, Prabath