Best ripper for Windows: DVDFab Decrypter. The DVD part is a misnomer as it also rips BluRay. Totally free and it's updated often so the new copy protection schemes don't pose too much of a problem.

After that, just use Handbrake (or XVid4PSP) to encode. Both are actually just a GUI over the same encoding base. XVid4PSP just lets you choose a bunch of other formats other than just Apple files (like Handbrake).