The only thing I can think of that you could try is to download a copy of western digital tools, they work for all drives and not just WD drives, and use the low level format utility to format the drive.
Download the utility, disconnect the working XP drive, connect the non-working drive as master, put the WD tools disk in the floppy and boot to floppy to format. You might have to go into bios and set boot order to floppy, cdrom and hard drive in that order.