cman fails to start with "Timed-out waiting for cluster" and openais repeatedly logs "The consensus timeout expired." immediately after starting cman in RHEL 5

Issue

• When cman starts either automatically on boot or by manually running service cman start, it reports "Timed-out waiting for cluster"

# service cman start
Starting cluster: 
   Loading modules... done
   Mounting configfs... done
   Starting ccsd... done
   Starting cman... failed
Timed-out waiting for cluster
                                                           [FAILED]

• In /var/log/messages I see repeated reports of The consensus timeout expired and entering GATHER state from 3:

Apr 12 17:06:45  openais[14610]: [MAIN ] Service initialized 'openais CMAN membership service 2.01'
Apr 12 17:06:45  openais[14610]: [SERV ] Service initialized 'openais extended virtual synchrony service'
Apr 12 17:06:45  openais[14610]: [SERV ] Service initialized 'openais cluster membership service B.01.01'
Apr 12 17:06:46  openais[14610]: [SERV ] Service initialized 'openais availability management framework B.01.01'
Apr 12 17:06:46  openais[14610]: [SERV ] Service initialized 'openais checkpoint service B.01.01'
Apr 12 17:06:46  openais[14610]: [SERV ] Service initialized 'openais event service B.01.01'
Apr 12 17:06:46  openais[14610]: [SERV ] Service initialized 'openais distributed locking service B.01.01'
Apr 12 17:06:46  openais[14610]: [SERV ] Service initialized 'openais message service B.01.01'
Apr 12 17:06:46  openais[14610]: [SERV ] Service initialized 'openais configuration service'
Apr 12 17:06:46  openais[14610]: [SERV ] Service initialized 'openais cluster closed process group service v1.01'
Apr 12 17:06:46  openais[14610]: [SERV ] Service initialized 'openais cluster config database access v1.01'
Apr 12 17:06:46  openais[14610]: [SYNC ] Not using a virtual synchrony filter.
Apr 12 17:06:46  openais[14610]: [MAIN ] Publishing socket for client connections.
Apr 12 17:06:50  ccsd[14604]: Cluster is not quorate.  Refusing connection.
Apr 12 17:06:50  ccsd[14604]: Error while processing connect: Connection refused 
Apr 12 17:06:55  ccsd[14604]: Cluster is not quorate.  Refusing connection.
Apr 12 17:06:55  ccsd[14604]: Error while processing connect: Connection refused 
Apr 12 17:06:57  openais[14610]: [TOTEM] The consensus timeout expired.
Apr 12 17:06:57  openais[14610]: [TOTEM] entering GATHER state from 3.

• When I restart the cman service then it is stopping at fencing