That was one of the many problems I had recently. I exported all my calendars as .ics files to back them up (I also had Time Machine backup), then went into iCal/Preferences/Accounts and deleted my account. Everything disappeared from iCal. Then I created a new account, with the same username and password and imported the calendars I had exported previously. I had to resubscribe to the subscribed calendars. Also, be sure to turn automatic syncing off in MobileMe preferences in System Preferences (change it to manual temporarily) before doing this, just in case.
If you decide to try this, be sure to first export your calendars from iCal by going to file/export.../export.../[yourcalendarname].ics, because they will be gone once you delete your account and you'll need to import them. It also can't hurt to have an extra backup in place, like Time Machine or on a thumb drive.
Not sure if this was the best way to fix it. Maybe someone else knows an easier way and will post about it.
I'm still getting error messages on the Mac Pro (which I haven't done this on yet), but the MacBook Pro and iPhone are working and syncing fine now.