/usr/bin/pmatop
/usr/bin/pmcollectl
/usr/bin/pmiostat
/usr/bin/pmrep
/usr/libexec/pcp/bin/pcp-atop
/usr/libexec/pcp/bin/pcp-atopsar
/usr/libexec/pcp/bin/pcp-collectl
/usr/libexec/pcp/bin/pcp-dmcache
/usr/libexec/pcp/bin/pcp-free
/usr/libexec/pcp/bin/pcp-iostat
/usr/libexec/pcp/bin/pcp-numastat
/usr/libexec/pcp/bin/pcp-shping
/usr/libexec/pcp/bin/pcp-uptime
/usr/libexec/pcp/bin/pcp-verify
You may install this package on CentOS with
yum
install pcp-system-tools