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RHEL 6 High Availability cluster nodes running in VMWare vSphere are unable to join a cluster together

Solution Verified - Updated 2015-11-30T09:06:34+00:00 -

Issue

When adding a node to a cluster, rgmanager comes online, but cman is waiting on cluster.
We have a two node VM cluster, and are adding a third node. That node just sits and waits at "Waiting for quorum" and eventually fails with "Timed-out waiting for cluster".
Two nodes running in VMWare try to start cman, and one fences the other
Cluster fenced running node when another node comes up.

Environment

Red Hat Enterprise Linux (RHEL) 6 with the High Availability Add On
Nodes running in VMWare vSphere

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