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On CentOS: to check if a package is installed, run yum info <package-name>. To install a package, run yum install <package-name>.

To install Ambari, you can build it yourself from source (see Ambari Development), or you can use published binaries.

As this is a Quick Start Guide to get you going quickly, ready-made , publicly-available binaries are referenced.
Note that these binaries were built and publicly made available via Hortonworks, a commercial vendor for Hadoop.  This is for your convenience.  Note that using the binaries shown here would make HDP, Hortonworks' distribution, available to be installed via Apache Ambari.  The instructions here should still work (only the repo URLs need to be changed) if you have Ambari binaries from any other vendor/organization/individuals (the instructions here can be updated if anyone wanted to expand this to include such ready-made, publicly accessible binaries from any source - such contributions are welcome).  This would also work if you had built the binaries yourself.

From the terminal window on the VM where you want to run the main Ambari service, download the Ambari repository. The following commands download Ambari version 2.5.1.0 and install ambari-server. To install a different version of Ambari, specify the appropriate repo URL. Choose the appropriate commands for the operating system on your VMs: 

# CentOS 6 (for CentOS 7, replace centos6 with centos7 in the repo URL)
# 
# to test public release 2.5.1
wget -O /etc/yum.repos.d/ambari.repo http://public-repo-1.hortonworks.com/ambari/centos6/2.x/updates/2.5.1.0/ambari.repo
yum install ambari-server -y
 
# Ubuntu 14 (for Ubuntu 16, replace ubuntu14 with ubuntu16 in the repo URL)
# to test public release 2.5.1
wget -O /etc/apt/sources.list.d/ambari.list http://public-repo-1.hortonworks.com/ambari/ubuntu14/2.x/updates/2.5.1.0/ambari.list
apt-key adv --recv-keys --keyserver keyserver.ubuntu.com B9733A7A07513CAD
apt-get update
apt-get install ambari-server -y
 
# SUSE 11 (for SUSE 12, replace suse11 with suse12 in the repo URL)
# to test public release 2.5.1
wget -O /etc/zypp/repos.d/ambari.repo http://public-repo-1.hortonworks.com/ambari/suse11/2.x/updates/2.5.1.0/ambari.repo
zypper install ambari-server -y

On an early 2013 MacBook Pro, 2.7 GHz core i7 and 16 GB RAM, this step takes seven minutes. Timing also depends on internet download speeds.