rcp: command not found

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/lib/heimdal/bin/rcp - from package: heimdal-appl-clients
/usr/kerberos/bin/rcp - from package: krb5-appl-clients
/usr/kerberos/bin/rcp - from package: krb5-appl-servers
/usr/bin/rcp - from package: rsh

You may install the required package with command yum install {package}

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