No there isn't any way to burn over a regular CD-R. Because it uses a different laser then with the CD-RW. It goes much deeper and therefor is permanent. Though a CD-RW also has a limit. But it still can be used approximately 1000 times to write data and/or music.

If you have some data on it you no longer need, the only thing you can do with the CD-R is throw it away. If you have sensitive data on the disk and you want the data to be unreadable any longer, there are special devices that are made to destroy CDs, but you can also put it in boiling water to make the data unrecoverable.