If you want to determine if it's anything other than support browsers, you might want to use jQuery's browser detection, something like:
<script type="text/javascript">
// check if browser is IE6 (when IE) or not FF6 (when FF)
if (($.browser.msie && $.browser.version.substr(0,1) == '6')
|| ($.browser.mozilla && $.browser.version.substr(0,1) != '3')) {
$('#browserWarning').show();
}
</script>
Update: As different said, a much better option is to use the IE if statements, such as:
<style type="text/css">
/* this would probably be in a CSS file */
#browserWarning { display:none; }
</style>
<!--[if IE 6]>
<style type="text/css">
#browserWarning { display:; }
</style>
<![endif]-->
This option is much better because it doesn't require the browser version to "perfect". This won't work though, if you want to detect other browsers as they don't support the if statements. Then you may want to use jQuery to detect the browser, although I would recommend trying to avoid it as much as much as possible.
Another great idea (or joke) is ie6update.com. It's not exactly what you want, but it wouldn't be hard to modify to make it display another message.