You could do worse than to try and manually unmount the disk (without ejecting 
it) before the erase.  This has worked for me before.  You’ll use Terminal.

Make sure you use the MBR partition scheme with your FAT file system when 
creating it.  Use the “Erase” function (as of El Cap) or Partition (for prior 
versions of OS X) but on the disk, and not the volume.  In other words, select 
the disk by hardware description, not by volume label, in Disk Utility.

First, to unmount, find your disk name in Terminal using “diskutil list” and 
then use “diskutil unmountdisk name” (where “name” is the whole disk).  This 
unmounts every volume on that disk.  You want a whole device name, like 
/dev/disk3, for example, and not a slice, like /dev/disk3s1.

Then go to Disk Utility, select the whole disk in question (it should still be 
visible), choose Erase, set a volume label and set the scheme to Master Boot 
Record, and try and erase again.

Expand the details view.  Look at the results table.  You should see both 
partition and mkfs steps.  If it fails, let us know where exactly it failed.

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