You didn't specify if the servers where using hardware or software RAID, that's what makes the difference. If software, then ShackDaddy's answer is correct, you have to backup, delete the stripe set, add the disk and reconfigure.
If they are using hardware, check the documentation for the controller, most controllers have this capablility. You just add the disk, use the config program to add the disk to the array.
Either way, backup everything first, I wouldn't even think of expanding an array even on a H/W RAID without backing up first.