I am getting the same result as ThomasAndrews following a slightly different path.
Express the desired answer as the linear combination $u+va+wa^2$, and solve in rationals
$$(u+va+wa^2)(p+qa+ra^2)=1\\\ =(up+vra^3+wqa^3)+(uq+vp+wra^3)a+(ur+vq+wp)a^2.$$
You get the system
$$\begin{align}pu+2rv+2qw&=1,\\\qu+\ \ pv+2rw&=0,\\\ru+\ \ qv+\ \ pw&=0.\end{align}$$
The determinant is $p^3+2q^3+4r^3-6pqr$, which doesn't factor nicely.
The final solution is
$$\frac{p^2-2qr}\Delta-\frac{2r^2-pq}\Delta a+\frac{q^2-pr}\Delta a^2.$$