I know I am bit late to answer this, but just wanted to share for reference. If There's a scenario that you don't have primary key column or date column on your source table and you want to sqoop the increment data only to hdfs.
Let's say there's some table which holds history of data and new rows being inserted to on daily basis and you just need the newly inserted rows to hdfs. if your source is sql server you can create Insert or Update trigger on your history table.

you can create a Insert trigger as shown below:
CREATE TRIGGER transactionInsertTrigger
ON [dbo].[TransactionHistoryTable]
AFTER INSERT
AS
BEGIN
SET NOCOUNT ON;
INSERT INTO [dbo].[TriggerHistoryTable]
(
product ,price,payment_type,name,city,state,country,Last_Modified_Date
)
SELECT
product,price,payment_type,name,city,state,country,GETDATE() as Last_Modified_Date
FROM
inserted i
END
Create a Table to hold the records when an insert events occurs on your main table. Keep the schema same as your main table, however you can add extra columns to this.
the above trigger will insert a row into table whenever there's any new row gets inserted to your main TransactionHistoryTable.
CREATE TABLE [dbo].[TriggerHistoryTable](
[product] [varchar](20) NULL,
[price] [int] NULL,
[payment_type] [varchar](20) NULL,
[name] [varchar](20) NULL,
[city] [varchar](20) NULL,
[state] [varchar](20) NULL,
[country] [varchar](20) NULL,
[Last_Modified_Date] [date] NULL
) ON [PRIMARY]
Now if we insert two new rows to main TransactionHistoryTable, because of this insert evert, our triggered was fired and has inserted these two rows to TriggerHistoryTable also along with main TransactionHistoryTable
insert into [Transaction_db].[dbo].[TransactionHistoryTable]
values
('Product3',2100,'Visa','Cindy' ,'Kemble','England','United Kingdom')
,('Product4',50000,'Mastercard','Tamar','Headley','England','United Kingdom')
;
select * from TriggerHistoryTable;

Now you can sqoop from your TriggerHistoryTable, which will be having daily insert or updated records. You can use Incremental sqoop also since we have added a date column to this. once you have imported data to hdfs you can clear this table on daily basis or weekly. This is just an example with sql server. you can have triggers with Teradata and oracle and other databases also. you can also set up a update/delete trigger also.