Piece of cake!
Get Shrink (free). It will open the DVD and you can save the files as TS files.
Get Mpeg Streamclip (free). It will open those files and give you many choices of formats to convert the footage to.
To use Streamclip you'll need the QuickTime MPEG-2 Playback component, which costs $20. But considering that Shrink and Streamclip are worth their weight in gold, but are free, you'll no doubt find that you don't mind the 20 bucks.
Kurt.