Automatic merge from submit-queue

Vendor github.com/square/go-jose for kubeadm and kube-discovery

**What this PR does / why we need it**:

This is to be used by `kubeadm` (#31221) and @dgoodwin's `kube-discovery` (PR pending).

***[xref kubernetes/features#11]***

***[cc @kubernetes/sig-cluster-lifecycle]***

**Special notes for your reviewer**:

This is first time I've used `godep`, so please verify if all is quite right about the diff. I'm not 100% sure if there should be secondary dependencies or not.

```release-note
NONE
```