I like the class, seems like boat loads of fun. I especially like how you balanced the Beast Form.

Only two things I would change would be to tone done animal companion a bit. If it is leveling with the Beast Warrior, I'd suggest druid-4, possibly -2. Animal Companions are mean.

Second thing would be looking at Extra Natural Attack. Read the Multifighting rules, they are quite nice and already balanced. Giving these as bonus feats would be easily understood for this class. Also, one can take those lines of feats before the Beast Warrior gives you the benefits form Class Abilities.

All in all, nice class but just a minor tweak or two in my perspective.