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Pretty basic stuff, but just so I don't have to look it up again.
Assuming you have a brand new drive (unformatted) to add:
Enter "fdisk [disk name]" (ex., "fdisk /dev/sdb"). You will then be asked to choose a command to enact upon the disk.
Enter "n" to create a new partition. You will then be asked to pick an extended or primary partition.
Enter "p" for a primary partition, unless you are sure you want to set up an extended partition.
Enter "1" to assign the number 1 to your new partition (ex., sdb1) or another number if you want.
Hit enter twice to establish the partition across the default space fdisk has chosen for you.
To set up the partition's system ID, enter "t", select the appropriate partition and enter "83".
Enter "w" to write the new partition to the disk and exit. You have now created a partition on your disk!
Enter "mkfs.ext3 -b 4096 [partition name]" to create an ext3 filesystem on your partition.
(above from here)
Then make a directory where you want to mount it (in this example /data):
mkdir /data
chmod 777 /data
Then edit /etc/fstab so drive will mount automatically on reboot
vi /etc/fstab
Add the following line to the end of /etc/fstab
/dev/sdb1 /data ext3 defaults 0 0
(Of course change /dev/sdb1 to the partition name you made in fdisk above, and change /data to your mount directory)
From the command line do
mount -a
to force a reload of /etc/fstab (so your disk mounts right now without a reboot.)
Also, see here for 3ware RAID management help.