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This is a known issue with Windows operating systems configured to use Microsoft Cluster Service. Microsoft has documented a workaround in its Knowledge Base (article 249194, "MSCS/Cluster Does Not Form with Error Messages 170 and 5086"), at support.microsoft.com/default.aspx?scid=kb;en-us;Q249194.
The workaround entails setting a 30 second delay in the start of the cluster service in the virtual machine.