[SPARK-14818] Post-2.0 MiMa exclusion and build changes

This patch makes a handful of post-Spark-2.0 MiMa exclusion and build updates. It should be merged to master and a subset of it should be picked into branch-2.0 in order to test Spark 2.0.1-SNAPSHOT.

- Remove the ` sketch`, `mllibLocal`, and `streamingKafka010` from the list of excluded subprojects so that MiMa checks them.
- Remove now-unnecessary special-case handling of the Kafka 0.8 artifact in `mimaSettings`.
- Move the exclusion added in SPARK-14743 from `v20excludes` to `v21excludes`, since that patch was only merged into master and not branch-2.0.
- Add exclusions for an API change introduced by SPARK-17096 / #14675.
- Add missing exclusions for the `o.a.spark.internal` and `o.a.spark.sql.internal` packages.

Author: Josh Rosen <joshrosen@databricks.com>

Closes #15061 from JoshRosen/post-2.0-mima-changes.