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If the broken disk is hot-swappable, you can pull it online.
But shut down critical services (e.g. a database).

Insert the new disk. Wait a minute for detection and spin-up.

Run format, in...

First of all make sure that you have backed up the data for the disk you are replacing. Then replace the disk. Partition it. Create the metadb. Mirror it. Resync it. Fill the disk with earlier data....

Yes that is safe, unless it is the boot disk.
And then there is manual work:
eventually a label is to be installed, the new disk needs to be partitioned, eventually a boot block needs to be...