I'm sure you're missing some dependencies. If you're not using a dependency manager, it can be difficult to diagnose missing libraries. Consider building the samples and running mvn dependency:tree in them to see what is required. When I do that, I see the following:
[INFO] ------------------------------------------------------------------------
[INFO] Building swagger-java-jaxrs-app 1.3.0
[INFO] ------------------------------------------------------------------------
[INFO]
[INFO] --- maven-dependency-plugin:2.1:tree (default-cli) @ swagger-java-sample-app_2.10 ---
[INFO] com.wordnik:swagger-java-sample-app_2.10:war:1.3.0
[INFO] +- com.wordnik:swagger-jaxrs_2.10:jar:1.3.0:compile
[INFO] | +- org.scala-lang:scala-library:jar:2.10.0:compile
[INFO] | +- com.wordnik:swagger-core_2.10:jar:1.3.0:compile
[INFO] | | +- commons-lang:commons-lang:jar:2.4:compile
[INFO] | | +- com.fasterxml.jackson.module:jackson-module-scala_2.10:jar:2.1.5:compile
[INFO] | | | +- com.fasterxml.jackson.core:jackson-core:jar:2.1.5:compile
[INFO] | | | +- com.fasterxml.jackson.core:jackson-databind:jar:2.1.5:compile
[INFO] | | | +- com.thoughtworks.paranamer:paranamer:jar:2.3:compile
[INFO] | | | \- org.scala-lang:scala-reflect:jar:2.10.0:compile
[INFO] | | +- com.fasterxml.jackson.core:jackson-annotations:jar:2.1.5:compile
[INFO] | | +- com.fasterxml.jackson.module:jackson-module-jsonSchema:jar:2.1.0:compile
[INFO] | | +- com.fasterxml.jackson.jaxrs:jackson-jaxrs-json-provider:jar:2.0.0:compile
[INFO] | | | \- com.fasterxml.jackson.module:jackson-module-jaxb-annotations:jar:2.0.0:compile
[INFO] | | +- com.wordnik:swagger-annotations_2.10:jar:1.3.0:compile
[INFO] | | +- org.json4s:json4s-ext_2.10:jar:3.2.4:compile
[INFO] | | | +- joda-time:joda-time:jar:2.1:compile
[INFO] | | | \- org.joda:joda-convert:jar:1.2:compile
[INFO] | | +- org.json4s:json4s-native_2.10:jar:3.2.4:compile
[INFO] | | | \- org.json4s:json4s-core_2.10:jar:3.2.4:compile
[INFO] | | | +- org.json4s:json4s-ast_2.10:jar:3.2.4:compile
[INFO] | | | \- org.scala-lang:scalap:jar:2.10.0:compile
[INFO] | | | \- org.scala-lang:scala-compiler:jar:2.10.0:compile
[INFO] | | \- org.json4s:json4s-jackson_2.10:jar:3.2.4:compile
[INFO] | +- javax.ws.rs:jsr311-api:jar:1.1.1:compile
[INFO] | \- org.reflections:reflections:jar:0.9.8:compile
[INFO] | +- com.google.guava:guava:jar:11.0.2:compile
[INFO] | | \- com.google.code.findbugs:jsr305:jar:1.3.9:compile
[INFO] | +- javassist:javassist:jar:3.12.1.GA:compile
[INFO] | \- dom4j:dom4j:jar:1.6.1:compile
[INFO] | \- xml-apis:xml-apis:jar:1.0.b2:compile
[INFO] +- ch.qos.logback:logback-classic:jar:1.0.1:compile
[INFO] | \- org.slf4j:slf4j-api:jar:1.6.3:compile
[INFO] +- ch.qos.logback:logback-core:jar:1.0.1:compile
[INFO] +- org.scalatest:scalatest_2.10:jar:1.9:test
[INFO] | \- org.scala-lang:scala-actors:jar:2.10.0:test
[INFO] +- junit:junit:jar:4.8.1:test
[INFO] \- javax.servlet:servlet-api:jar:2.5:provided