I have found that trying to burn an ISO from Nautilus to a non-blank CD-RW 
gives an option to erase. So the  ability to erase is already there, it would 
seem.
So all that's needed is either:
- an "erase media" option adding to a menu
- or a mention in the documentation that to re-burn to a CD-RW, just burn the 
ISO and you'll be prompted.

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ability to erase CD-RWs should be installed by default
https://bugs.launchpad.net/bugs/161814
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