Windows based WD external hard drive not showing up in Disk Utility to reformat to Mac... how can I erase the drive

We have a WD external harddrive previously used with a PC that we want to completely erase and reformat for use with our iMac desktop for use with Time Machine.  The drive shows up on the desktop of the Mac, but it does not show up in Disk Utlity, assuming because it's Windows format.  Outside of the standard "erase" feature in Disk Utility, is there any way to reformat this drive for Mac OS X?  Or how can I get this drive to show up in Disk Utility?  Note: The drive functions properly, has power, and we are able to view its current contents through the desktop icon, so it is a working drive.  And we are ok with losing all the current data on the drive.

Hmm strange, I had just moved my external Lacie drive from my windows machine to my iMac and it was showing up in disk utility still formatted fat32 or whatever. I would disconnect the drive and restart the machine then replug the drive and try again.
Also not that it will make a difference ( I dont think it will but hey why not ) try accessing disk utility from the install disk?

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