A file system that is mounted read-only may not be clean, i.e. properly closed. It then is in an inconsistent state. Have the file system checked, after which it should mount without problems.
You can check and repair a file system using the "Disks" utility included with Ubuntu. You can check a file system only when it is not mounted, so unmount first.
The tool to check a file system at the command line is fsck
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To prevent this from happening again, always make sure to carefully eject the drive using software before physically unplugging it. The system will give you a notification when it is safe to remove the drive. Before that, it may give you a notification that it is not yet safe, if data still needs to be committed to disk.
If you carefully remove a drive, the file system will remain healthy for a longer time. It still is a good idea to check the file system of any removable drive from time to time. File systems on your internal drives that are used by the system are checked automatically on every reboot.