First things first, you will need a Windows computer. I know, I hated it too, but I had to drag out my old Windows notebook.
Then you'll need a free application that does a low level format on the drive.
This can be found here
HDDGURU: HDD Low Level Format Tool
After you've installed the application, make sure the flash drive has been plugged in for at least 5 minutes and that Windows is at least seeing it in the device manager. Then run the program and select the flash drive in the list.
The next screen will have three taps at the top, select the low level tab and then click format or next, can't remember exactly what it says.
****BTW THIS WILL EARASE EVERYTHING ON THE FLASH DRIVE WITH NO WAY TO RECOVER****
You will more than likely see a bunch of errors, that's normal from what I can tell. Once the program has finished, 2 gigs took me a minute. Go to the disk management tool located in the administrative tools and you should see the new flash drive with no partition. Initialize the drive and then partition it however you'd like.
I did FAT32 and then removed it properly from the computer. Then I plugged it into my Mac and erased the drive and changed it to a Mac Journaled drive and change the name to something I like.
That's it, drag the drive to the trash and you can now remove it. BTW this only took me a year and a half to figure out.

Really it only took me a few hours cause I tried for about 20 minutes a year ago and couldn't get it working and decided to just put it away. I got it out today hoping I'd find a way to fix it and after an hour of reading and searching I figured it out.