Follow rfc 7515 and strip padding from JWS segments (#324)

* strip off illegal padding

* oops: remove unused import base64
diff --git a/google/auth/_helpers.py b/google/auth/_helpers.py
index 860b827..b32801a 100644
--- a/google/auth/_helpers.py
+++ b/google/auth/_helpers.py
@@ -215,3 +215,20 @@
     b64string = to_bytes(value)
     padded = b64string + b'=' * (-len(b64string) % 4)
     return base64.urlsafe_b64decode(padded)
+
+
+def unpadded_urlsafe_b64encode(value):
+    """Encodes base64 strings removing any padding characters.
+
+    `rfc 7515`_ defines Base64url to NOT include any padding
+    characters, but the stdlib doesn't do that by default.
+
+    _rfc7515: https://tools.ietf.org/html/rfc7515#page-6
+
+    Args:
+        value (Union[str|bytes]): The bytes-like value to encode
+
+    Returns:
+        Union[str|bytes]: The encoded value
+    """
+    return base64.urlsafe_b64encode(value).rstrip(b'=')