It is illegal to rip dvd until and unless you rip the dvd's that you own and rip only for your purpose.
There is a program called mac the ripper. just google mactheripper.
Hope that helps
Rip with MacTheRipper and use DVD2oneX2 to compress and burn.
DVD2onex2 burns also?
How is Popcorn with Toast 8 compared to DVD2oneX2?