|The disc in question was most likely formatted for "drag-to-disc" use, whereby you can drag files to it, just like a hard drive. Third-party software is required for both the formatting and for the drag-and drop file-copying to work.|
Examples of this software are Roxio Drag-to-Disc, Nero InCD, and Sonic DLA
Your current computer evidently has no UDF software installed so Windows cannot read data on a UDF-formatted disc. This just shows how unwise it is to create CDs in this way, not to mention that it's the most unreliable way too.
If all you want to do is read, copy and install from existing UDF discs, all you need to install is the UDF Reader software which is free: