Ronda is on the right track.
Which software are you using to write the DVD-RW on the PC?
The problem probably arises as the when the PC writes the DVD-R it uses a standard (ISO 966) which the iBook can read.
When writing the DVD-RW often PC software will
format the disk so it acts like a floppy disk. However this proprietary format will only be readable on the PC with the disc writing software, the disc is unreadable, not just on Macs, but also on PCs as well.
How you correct this depends on the software you are using.
I would change the DVD-RW settings or create a disk image using the DVD burning software and then burn that ISO 9660 image to the DVD-RW, this should then be readable by the iBook.
Regards
iFelix