HandBrake is an open-source, GPL-licensed, multiplatform, multithreaded video transcoder, available for MacOS X, Linux and Windows.
Input:
Any DVD-like source: VIDEO_TS folder, DVD image or real DVD (unencrypted--protection methods including CSS are not supported internally and must be handled externally with third-party software and libraries), and some .VOB and .TS files Most any multimedia file it can get libavformat to read and libavcodec to decode.
Output:
File format: MP4, MKV, --AVI-- or OGM Video: MPEG-4, H.264, or Theora (1 or 2 passes or constant quantizer/rate encoding) Audio: AAC, MP3, Vorbis or AC-3 pass-through (supports encoding of several audio tracks)
Screenshot:
Here are some good tutorials:
Tutorial on YouTube Rip DVD's for Your iPod, Apple TV or iPhone How to Rip DVDs with Handbrake"
"I use DVDDecrypter to rip, and AutoGK to do the actual encoding. It's a two-step process, but I haven't found a simple encoder that supports removing CSS, so you'll always have to rip encrypted DVD's. AutoGK is a single screen app where you set the source and the output, sound options and optionally subtitle options, then you add the job to a queue. Start the queue and out pops your DivX or XVid AVI file a little bit later.
http://www.videohelp.com/ has a ton of great information regarding computer video and encoding."
"I use SlySoft CloneDVD Mobile. Commercial, but it works every time, and you don't need to read a tutorial.
This has profiles for almost any device (iPhone, BlackBerry, AppleTV H264, Zune, Nokia, Sony Ericson, PSP, PlayStation), but you can also create standard DivX i the resolution you like.
It sopports 3 passes (takes a long time!). And it is easy to select subtitle, audio. Zoom, Quality/Size etc.