Azure Powershell error: Authentication Failed: A security token exception occurred for the received JWT token

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Issue:
When running Azure Powershell cmdlets like Get-AzureVM, user gets the following error:
Authentication Failed: A security token exception occurred for the received JWT token."

Resolution:
1.Close the Azure Powershell window
2.Delete the XML files in %appdata%\Windows Azure Powershell.
3.Open Azure Powershell and run Add-AzureAccount.