This came up recently when Kim Vogler of Cisco TAC had an open thread answering CIM questions. You could search for her thread. I know, because I asked a similar question about integrating a second PG/Listener.
Essentially you just need another Application Path Member for your new MRD on the existing peripheral and CIM will see the config information and the skills, DNs etc. My experience was that this was immediately available and no restart of CIM was required.
Post back your results, please.
Regards,
Geoff