I found a similar error as mine on stackoverflow and added selenium webdriver jar files to the project using the below method :
right click on project--> goto build
even i got the the same error but then i realised that i missed 2 additional JAR files from Selenium 2.53.0.
selenium-java-2.53.0-srcs.jar selenium-java-2.53.0.jar
these are not in the sub library " libs" in selenium 2.53.0 but listed separately in the same folder.