Nope ,as Koopa wrote *you need to be a TACTICAL captain/character* as each of the different characterclasses can only teach their classpowers. Engineering Character can teach engineering skills ,Science Character teaches science skill and the Tactical Character teaches Tactical skills (Cannon Rapid Fire is a Tactical skill so only he dcan train it)
Ok here is where you can find it. If you hit, by default, U and click your character you will see a botton called Train Officer. Click that and you should see Cannon rapid Fire 3 as a skill you can train. However I will say again in order to use the skill you'll have to wait until you hit Captain and fly a Defiant.