Have you tried to add the server in your settings.xml file? The default settings xml is located in your ~/.m2/ directory. Should contain something like that:
<servers>
<server>
<id>my-internal-nexus-repo</id>
<username>yourUserName</username>
<password>yourPassword</password>
</server>
</servers>
Here is a link to the http://maven.apache.org/settings.html maven doc for adding servers.
One other thing which might be a shot in the dark. I’ve noticed you are trying to connect to what the url suggests might be a Jenkins instance. Jenkins is a Continious Integration server and seemed strange to me that you are finding your repositories there. I would expect a Nexus url or something.