Already mentioned, but condensed.
MacTheRipper - rips to Video_TS Files - used to be free, not sure about the new version.
HandBrake - it's the cats @$$, or the dogs bollacks, whichever suits you. Free, and will rip/encode to a variety of formats. (but not to native DVD format)
DVD2ONE - will take a larger capacity DVD (say 7 Gigs), and compress it (to 4.5 Gigs) for backup on a DVD-R. -- So you don't have to worry about flying pigs, or scratched discs.
Please don't steal commercial / intellectual property! It's a crime!