Fixed upstream:
master: https://fedorahosted.org/freeipa/changeset/3bb6d3830868a50066569b55158fbba1f36654fd

Verified.

Version ::
ipa-server-3.3.3-15.el7.x86_64

Test Results ::

[root@master ~]# PAGER="cat" man ipa-client-install 2>/dev/null|grep "Re-enrollment of the host"
   Re-enrollment of the host

[root@master ~]# ipa help host|grep "A host can only be enrolled once"
[root@master ~]# 

From Man page:

   Re-enrollment of the host
       Requirements:

       1. Host has not been un-enrolled (the ipa-client-install --uninstall  command  has  not  been
       run).
       2. The host entry has not been disabled via the ipa host-disable command.

       If this has been the case, host can be re-enrolled using the usual methods.

       There are two method of authenticating a re-enrollment:

       1.  You  can  use --force-join option with ipa-client-install command. This authenticates the
       re-enrollment using the admin's credetials provided via the -w/--password option.
       2. If providing the admin's password via the command line is not an option (e.g you  want  to
       create a script to re-enroll a host and keep the admin's password secure), you can use backed
       up keytab from the previous enrollment of this host to authenticate. See --keytab option.

       Consenquences of the re-enrollment on the host entry:

       1. A new host certificate is issued
       2. The old host certificate is revoked
       3. New SSH keys are generated
       4. ipaUniqueID is preserved

This request was resolved in Red Hat Enterprise Linux 7.0.

Contact your manager or support representative in case you have further questions about the request.