Most movies will rip fine in Handbrake, but I've found I've needed to use MacTheRipper to strip out the protection for some DVDs.
I'm not sure what you find is complicated about it. Just put in the DVD and click on Go - it'll rip the whole DVD by default. With Mode you can select whether to rip just the main feature.
You get a VIDEO_TS directory on your HD. You can load this into HandBrake to convert to mp4 (I usually go for the iPod Hi-Rez preset, but push the resolution up as far as it can go. This is a good enough trade off that gives a decent display on my TV, Mac and on my iPhone - I don't put that much video on my iPhone, and with those settings I get about one hour video = 700MB, so I could put 10 hours video on it if I had no music on it).
The reason some rips don't work is that one way of attempting copy protection is for the manufacturer to engineer deliberate bad sectors on the DVD. I've come across one movie that not even MtR (either version 2.6.6 or version 3) was able to rip properly - Ratatouille. Starting from chapter 2, I was able to get about 1/3 of the movie, but then it failed. But I was able to rip from that point on, then used iMovie to splice the two rips together.