bsdcpio3: 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
/usr/local/sbin:/usr/local/bin:/sbin:/bin:/usr/sbin:/usr/bin:/root/bin

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/bin/bsdcpio3 - from package: bsdcpio3

You may install the required package with command yum install {package}
Error in other languages:
bsdcpio3: bevel nie gevind nie
bsdcpio3: comandă negăsită
bsdcpio3: comando não encontrado
bsdcpio3: commande introuvable
bsdcpio3: command not found
bsdcpio3: käsku ei ole
bsdcpio3: không tìm thấy lệnh
bsdcpio3: komanda nerasta
bsdcpio3: Kommando nicht gefunden.
bsdcpio3: kommandot finns inte
bsdcpio3: komut yok
bsdcpio3: nie znaleziono polecenia
bsdcpio3: níor aimsíodh an t-ordú
bsdcpio3: no se encontró la orden
bsdcpio3: no s'ha trobat l'ordre
bsdcpio3: opdracht niet gevonden
bsdcpio3: parancs nem található
bsdcpio3: perintah tidak ditemukan
bsdcpio3: príkaz nenájdený
bsdcpio3: příkaz nenalezen
bsdcpio3: команда не найдена
bsdcpio3: командата не е открита
bsdcpio3: 命令找不到
bsdcpio3: コマンドが見つかりません