How do I put all required JAR files in a library folder inside the final JAR file with Maven?

I am using Maven in my standalone application, and I want to package all the dependencies in my JAR file inside a library folder, as mentioned in one of the answers here:

How can I create an executable JAR with dependencies using Maven?

I want my final JAR file to have a library folder that contains the dependencies as JAR files, not like what the maven-shade-plugin that puts the dependencies in the form of folders like the Maven hierarchy in the .m2 folder.

Well, actually the current configuration does what I want, but I am having a problem with loading the JAR files when running the application. I can't load the classes.

Here's my configuration:

<plugins>

    <plugin>
        <groupId>org.apache.maven.plugins</groupId>
        <artifactId>maven-dependency-plugin</artifactId>
        <executions>
            <execution>
                <id>copy-dependencies</id>
                <phase>prepare-package</phase>
                <goals>
                    <goal>copy-dependencies</goal>
                </goals>
                <configuration>
                    <outputDirectory>${project.build.directory}/classes/lib</outputDirectory>
                    <overWriteReleases>false</overWriteReleases>
                    <overWriteSnapshots>false</overWriteSnapshots>
                    <overWriteIfNewer>true</overWriteIfNewer>
                </configuration>
            </execution>
        </executions>
    </plugin>

    <plugin>
        <groupId>org.apache.maven.plugins</groupId>
        <artifactId>maven-jar-plugin</artifactId>
        &