mpiexec.mpirun_rsh: command not found

Have You tried accessing the binary with the full path?

Maybe Your $PATH variable doesn't contain the default paths? echo $PATH should give something like:

[root@server ~]# echo $PATH

If it's empty, You may set the PATH variable with this command

export PATH="/usr/local/sbin:/usr/local/bin:/sbin:/bin:/usr/sbin:/usr/bin:/root/bin"

On CentOS possible default full paths are:

/usr/lib64/mvapich2-psm/bin/mpiexec.mpirun_rsh - from package: mvapich2-psm
/usr/lib64/mvapich2/bin/mpiexec.mpirun_rsh - from package: mvapich2
/usr/lib/mvapich2/bin/mpiexec.mpirun_rsh - from package: mvapich2

You may install the required package with command yum install {package}
Error in other languages:
mpiexec.mpirun_rsh: bevel nie gevind nie
mpiexec.mpirun_rsh: comandă negăsită
mpiexec.mpirun_rsh: comando não encontrado
mpiexec.mpirun_rsh: commande introuvable
mpiexec.mpirun_rsh: command not found
mpiexec.mpirun_rsh: käsku ei ole
mpiexec.mpirun_rsh: không tìm thấy lệnh
mpiexec.mpirun_rsh: komanda nerasta
mpiexec.mpirun_rsh: Kommando nicht gefunden.
mpiexec.mpirun_rsh: kommandot finns inte
mpiexec.mpirun_rsh: komut yok
mpiexec.mpirun_rsh: nie znaleziono polecenia
mpiexec.mpirun_rsh: níor aimsíodh an t-ordú
mpiexec.mpirun_rsh: no se encontró la orden
mpiexec.mpirun_rsh: no s'ha trobat l'ordre
mpiexec.mpirun_rsh: opdracht niet gevonden
mpiexec.mpirun_rsh: parancs nem található
mpiexec.mpirun_rsh: perintah tidak ditemukan
mpiexec.mpirun_rsh: príkaz nenájdený
mpiexec.mpirun_rsh: příkaz nenalezen
mpiexec.mpirun_rsh: команда не найдена
mpiexec.mpirun_rsh: командата не е открита
mpiexec.mpirun_rsh: 命令找不到
mpiexec.mpirun_rsh: コマンドが見つかりません