Try connecting with noSASL:
[root@sandbox ~]# beeline
Beeline version 0.14.0.2.2.0.0-1084 by Apache Hive
beeline>
beeline> !connect jdbc:hive2://sandbox:10000/default;auth=noSasl root hadoop org.apache.hive.jdbc.HiveDriver
Connecting to jdbc:hive2://sandbox:10000/default;auth=noSasl
SLF4J: Class path contains multiple SLF4J bindings.
SLF4J: Found binding in [jar:file:/usr/hdp/2.2.0.0-1084/hadoop/lib/slf4j-log4j12-1.7.5.jar!/org/slf4j/impl/StaticLoggerBinder.class]
SLF4J: Found binding in [jar:file:/usr/hdp/2.2.0.0-1084/hive/lib/hive-jdbc-0.14.0.2.2.0.0-1084-standalone.jar!/org/slf4j/impl/StaticLoggerBinder.class]
SLF4J: See http://www.slf4j.org/codes.html#multiple_bindings for an explanation.
SLF4J: Actual binding is of type [org.slf4j.impl.Log4jLoggerFactory]
Connected to: Apache Hive (version 0.14.0.2.2.0.0-1084)
Driver: Hive JDBC (version 0.14.0.2.2.0.0-1084)
Transaction isolation: TRANSACTION_REPEATABLE_READ
0: jdbc:hive2://sandbox:10000/default> !tables
+------------+--------------+---------------------------------+-------------+-------------------------------------------------------------+--+
| TABLE_CAT | TABLE_SCHEM | TABLE_NAME | TABLE_TYPE | REMARKS |
+------------+--------------+---------------------------------+-------------+-------------------------------------------------------------+--+
| | default | sample_07 | TABLE | NULL |
| | default | sample_08 | TABLE | NULL |
| | default | ccsm_imsisvc_15_tl_stg_parquet | TABLE | This is the staging table storing SPARK output for IMSISVC |
| | default | test_index | TABLE | NULL |
| | default | test_table | TABLE | NULL |
| | xademo | call_detail_records | TABLE | NULL |
| | xademo | recharge_details | TABLE | NULL |
| | xademo | customer_details | TABLE | NULL |
+------------+--------------+---------------------------------+-------------+-------------------------------------------------------------+--+
0: jdbc:hive2://sandbox:10000/default>
