Maven Failed to Find dependency
I don't know if there's a more "regular" way to do this: go to your local maven repository, cd to the directory where that dependency is supposed to be and delete all files (you could even delete the whole org/sprimgframework/ws) then relaunch mvn. It will try to reload all missing dependency.
Looking at The Central Repository
If you do a search for spring-ws you'll see that there is only a pom file available for download for what you precisely specified in your pom.xml.
Looks like you might want to use spring-ws-core like so:
<dependency>
<groupId>org.springframework.ws</groupId>
<artifactId>spring-ws-core</artifactId>
<version>2.1.4.RELEASE</version>
</dependency>