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The 52-year-old former England and Ireland Lions coach also coached the Bangladesh national team.
Kent-based Barnes has also been part of the backroom team with Gloucestershire, Somerset and, most recently, Surrey.
He has previously worked with three Bears bowlers, pacemen Chris Woakes, Liam Norwell and Craig Miles.
Barnes worked with Woakes during an England Lions tour of the West Indies, and with Norwell and Miles when they were in Gloucestershire.
He has already started working in the nets indoors in Edgbaston but will join the team full time in January.
Warwickshire, still without a cricket manager following Paul's departure to Sussex Farbrace, are currently in the hands of first-team manager Mark Robinson.
"There were other potential candidates with great resumes," Robinson said. "But Stuart, with his wealth of experience and expertise, stood out. We are lucky to have found someone of his caliber at short notice.
"He is a coach with solid national and international experience. He is a great addition to our coaching roster and I am confident our bowlers will benefit from his leadership."
Australia's Mason's departure was announced on October 17 when the former Worcestershire pacemaker landed the job of fast bowling coach with the England women's national team.
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