I like Handbrake myself since I work on Multiple platforms. It converts and rips and removes the drm. (not for stealing but for coping your own media). You can output in many formats.
HandBrake
blurb from their open source site
Supported sources:
* 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.
Outputs:
* 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)
Misc features:
* Chapter selection
* Basic subtitle support (burned into the picture)
* Integrated bitrate calculator
* Picture deinterlacing, cropping and scaling
* Grayscale encoding