Place pom.xml into empty directory and run the shell script and all the deps will be in lib directory.

pom.xml

<?xml version="1.0" encoding="UTF-8"?>
<project xmlns="http://maven.apache.org/POM/4.0.0"
         xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">
    <modelVersion>4.0.0</modelVersion>

    <groupId>test</groupId>
    <artifactId>test</artifactId>
    <version>1.0-SNAPSHOT</version>

    <properties>
        <maven.compiler.source>17</maven.compiler.source>
        <maven.compiler.target>17</maven.compiler.target>
        <project.build.sourceEncoding>UTF-8</project.build.sourceEncoding>
        <pdfbox.version>3.0.0-alpha2</pdfbox.version>
    </properties>

    <dependencies>
        <dependency>
            <groupId>org.apache.pdfbox</groupId>
            <artifactId>pdfbox</artifactId>
            <version>${pdfbox.version}</version>
        </dependency>
    </dependencies>
  
  <build>
    <plugins>
      <plugin>
        <groupId>org.apache.maven.plugins</groupId>
        <artifactId>maven-dependency-plugin</artifactId>
        <version>3.2.0</version>
        <configuration>
          <outputDirectory>lib</outputDirectory>
          <overWriteReleases>false</overWriteReleases>
          <overWriteSnapshots>false</overWriteSnapshots>
          <overWriteIfNewer>true</overWriteIfNewer>
        </configuration>
      </plugin>
    </plugins>
  </build>
</project>

start.sh

mvn dependency:copy-dependencies