I'm no expert with using iCloud, but have you tried quitting the calendar app on the iPad2, reboot the device and then see if the calendars will sync?
In order to quit the calendar app, Go to the home screen first by tapping the home button. Double tap the home button and the recents tray will appear with all of your recent apps displayed at the bottom. Tap and hold down on any app icon until it begins to wiggle. Tap the minus ➖ sign in the upper left corner of the calendar app. Tap the home button or anywhere above the task bar.
Reboot the iPad by holding down on the sleep and home buttons at the same time for about 10-15 seconds until the Apple Logo appears - ignore the red slider if it appears on the screen - let go of the buttons. Let the iPad start up.
What a minute or so after the iPad restarts and then go to the calendar again, and refresh the calendar and see what happens.
if that doesn't help, try Apple's troubleshooting steps here.