From what I hear, its actually illegal in the US for someone to tell someone else about ways to circumvent copy protection...
But I cannot figure out why I shouldn't tell you about DVDShrink (for windows)...But since I cannot mention that one, then I guess I also cannot mention DVDbackup (a command line tool for linux)...and obviously I'm precluded from mentioning MacTheRipper (for OS X).

I really think it stinks that I cannot tell you about any of those tools, especially since you are trying to rip content you own.