Frankly, Handbrake really does a good job in ripping DVDs. The only catch is that its parameter setting seems to be complicated, the new users may get confused frequently. Besides Handbrake, there are some other free DVD rippers available for download, like MacX DVD Ripper Free Edition. It is compatible with Yosemite and can rip DVD to any format. If you have problem about Handbrake, you can give this app a try.
sure, this is just my personal opinion, you can do a google search and choose other one you like more. 😛