rtc_id_values = []
with arcpy.da.SearchCursor(rtc_shp, "ID") as scursor:
    for srow in scursor:
        rtc_id_values.append(srow)

with arcpy.da.UpdateCursor(corporate_rtc_dataset, "ID") as ucursor:
    for urow in ucursor:
        if urow in rtc_id_values:
            row.deleteRow()