ElFroggio
I assumed you would replace the USB drive with another internal SATA (if that's what you are using) drive, and then manually rebuild the array using the Console admin menu, where you add an unused drive to the array. I'm assuming here too, that you are referring to a RAID1 setup with two drives only.
Of course you can continue on in degraded mode with one drive in the RAID1 array, but you will continue to get those messages, so you may then need to disable the generation of those messages ie disable the raid monitor function.
Refer to the RAID Howto, it has various useful commands.