Lesotho eliminated Kenya from the race to Morocco 1-0 over two legs.
Kenya's most capped player with 105 games and Harambee Stars skipper for 13 years, Musa "Otero" Otieno has been named assistant. With another former Kenya international Simon Mulama appointed team manager.
"We reached the decision to appoint the trio because of their vast experience and knowledge of the game. Williamson has many years of experience in-charge of Uganda while Musa Otieno and Simon Mulama served the country diligently over the years. We will give them all the support as we look forward to forgetting the disappointment of not qualifying for the group stages for Afcon 2015," FKF President Sam Nyamweya told Cafonline.com.
Bobby Williamson won the Kenyan premier league with Gor Mahia in his maiden 2013 season and was also instrumental in ensuring Uganda won the regional Cecafa Seniior challenge cup 4 times under his reign.
Musa Otieno was a player at South African PSL side Santos for 13 years where he also served on the club's technical bench before he returned home in this year and worked as a football pundit with Supersport tv.