A note on DVD Shrink: I used it all the time, in spite of people here saying it wasn't a good option, just because the interface was so user-friendly. But I found out last year, when talking with someone over my long-in-gestation Narnia edit, that the constant image squishing problem I had run into was because of that program. The poster pointed out that it's right in the name -- DVD Shrink -- which I assumed meant that it would create a smaller file size, not that it would actually shrink the image. Who would possibly consider that a good feature?
Since then, I haven't used DVD Shrink and I don't recommend it for others. When I finally feel like I can start the Narnia edit from scratch yet again, I'm going to use the ripping software built into my editing program and hope for the best.
Anyway, it sounds like others have suggested some really good options here.