Say you have the following date: MAR 16 2008 09:12:51:893AM
SELECT DATE_FORMAT(STR_TO_DATE('MAR 16 2008 09:12:51:893AM','%M %d %Y %h:%i:%s:%f%p'),'%Y%m%d%k%i%s.%f'); --> 2008031691251.893000


What if its PM rather than AM
SELECT DATE_FORMAT(STR_TO_DATE('MAR 16 2008 09:12:51:893PM','%M %d %Y %h:%i:%s:%f%p'),'%Y%m%d%k%i%s.%f'); --> 20080316211251.893000


Ok so this is just simple string manipulation where:
%M is the month name
%d is day number
%Y is the year
%h is the hour
%i is the minute
%s is the second
%f is the microsecond
%p is the period: ante or post meridiem
In the DATE_FORMAT part we se a %k which is in 24hr format in order to loose the period.

A more detailed list is found here

Here is a demo:

mysql Tue Jun 15 12:32:37 2010 > CREATE TABLE test.abc(a DECIMAL(17,3)) ENGINE=MYISAM;
Query OK, 0 rows affected (0.03 sec)

mysql Tue Jun 15 12:32:45 2010 > INSERT INTO abc VALUES ( DATE_FORMAT(STR_TO_DATE('MAR 16 2008 09:12:51:893PM','%M %d %Y %h:%i:%s:%f%p'),'%Y%m%d%k%i%s.%f') );
Query OK, 1 row affected (0.01 sec)

mysql Tue Jun 15 12:32:51 2010 > SELECT * FROM abc;
+--------------------+
| a                  |
+--------------------+
| 20080316211251.893 |
+--------------------+
1 row in set (0.00 sec)

mysql Tue Jun 15 12:32:56 2010 > SELECT TIMESTAMP(a) FROM abc;
+----------------------------+
| TIMESTAMP(a)               |
+----------------------------+
| 2008-03-16 21:12:51.893000 |
+----------------------------+
1 row in set (0.00 sec)