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Windows XP should see the drive if you goto Control Panel > Administrative Tools > Computer Management.
Under "Storage" you should see "Disk Management".
Click on it.
You should see the drive. Just right-click it. Choose Delete Partition, Delete Logical Drive, whatever you need to do. Then create a new partition and format it. You can do all of that from the Disk Management console.
The Disk Management shows all drives even if Explorer doesn't.
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