For running sqoop commands, its sufficient if you install the sqoop client in the node you prefer and then add the respective JDBC driver to /var/lib/sqoop directory with atleast read permission for all user. I assume you have done both but still facing failures.
To further review, I would like to know the following details
1. To what database (mysql,oracle etc with version details) are you trying to connect to and what jdbc version are you using?