[On Windows - DVD Fab, but I don't think it is free. It works on almost everything and has built in profiles for pretty much any device you many want.
Yes, it's free from the publisher. They also have a free program to make your DVD drive region-free. So, good for the OP who has DVD's from multiple regions.
Do a google search.
DVD Shrink isn't a good candidate for a ripper as it often gets stuck on the newer DVD's. No idea for Handbrake for Mac but it's the same story for Handbrake for Windows.