Building a dynamic classloading framework in Java 8

I want to build a framework which does the following:
1. Loads jar files from specific directories.
2. Discovers information about the jar files.
3. Calls a specific method on a class present in this jar file based on some condition.

I am looking at ClassLoader, specifically getResource / getResources / loadClass methods, and the Method Handles API from Java.

Are there better libraries or techniques for the purpose in Java 8?
How do I ensure that the classes are loaded correctly with all their dependencies?