Right click/ctrl+click the HD icon and click "Get Info" You can also select the HD icon and press command+i. At the very bottom of the window that comes up there are read/write permissions. Click the lock in the corner to make changes to them that fit your needs
(Notes: You need the Admin password for this. This works for me on OSX v10.9.2; not 100% sure if it works on older OSX versions.)
If you can't find the HD icon, enter the name of the HD in Spotlight search. By default mine is called "Untitled."
Good Luck!