1)

In what will they rejoice?

1.

Radak #1: One who trusts in Hashem will rejoice from the great good that comes to him from Him.

2.

Radak #2: His Nefesh will find great Simchah in Avodas Hashem, and in his trust in Him.

2)

What is the meaning of "Harninu"?

1.

Radak: It is Po'el Yotzei (it acts on others). Everyone whose heart is straight and he wants to adopt your path, make him rejoice and sing.

2.

Malbim: Those whose hearts are straight should sing, for all He does is for your benefit and success.

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