I have created a sample project to test jsp.
Project looks like this
I am using tomcat 9, Java SE 8_73. web module version for the project is 3.1 without generated web.xml. The 
The java code looks like this
package pac;
import java.io.IOException;
import java.io.PrintWriter;
import javax.servlet.ServletException;
import javax.servlet.annotation.WebServlet;
import javax.servlet.http.HttpServlet;
import javax.servlet.http.HttpServletRequest;
import javax.servlet.http.HttpServletResponse;
/**
 * Servlet implementation class JSPProject
 */
@WebServlet("/jspproject")
public class JSPProject extends HttpServlet {
    private static final long serialVersionUID = 1L;
    protected void service(HttpServletRequest request, HttpServletResponse response) throws ServletException, IOException {
        PrintWriter cut = response.getWriter();
        cut.println("hello world");
    }
}
but when run the JSPProject.java on the server, below error message is displayed. 
HTTP Status 404 - /DynamicJSP/jspproject
type Status report`
message /DynamicJSP/jspproject
description The requested resource is not available.
The requested resource is not available.
 
     
    