You cannot remove & replace a drive in RAID 0 without losing the entire array. If this is what you intend to do then you best make and verify a backup of the array BEFORE you touch the drive/s. Otherwise kiss your data goodbye.
1 of the 3 hard drives in RAID 0 ('500GB') is now DEGRADED, and needs to be replaced.
All 3 are WD 500GB SATA3, 7200 RPM.
Is it a problem if we replace WD 500GB SATA6, 7200 RPM.?
Presumably, you mean SATA 3Gbps and SATA 6Gbps.
SATA II and SATA III.
With spinning hard drives, that SATA III is simply for marketing consideration. It still transfers at the same speed as the other drive.
And ex-bubble is quite correct. You can't simply slot a new drive into a RAID 0 array.
Copy the entirety of the data elsewhere, build a whole new array with the new drive included, and copy the data back.