MacX Rip DVD to Music for Mac Free Edition is a DVD ripper. Although the name implies that you can only use it to convert DVD movies to music files, the app also has a feature that allows you to convert them to MP4 files, using either the H.264 or the MPEG-4 format for encoding. This tool is absolutely free, and it works well for ripping video.
When you load a DVD movie (or the DVD files on your computer, if you have copied the contents of a dVD to your hard drive), you will see a list of the available titles. You can select one of them or all of them at the same time and convert them to the desired format. At the bottom of the screen, you will see two tabs: "to MP4" and "to Music". The first is for video and the second one allows you to convert those titles into MP3 files. You can choose among the different available audio tracks or add subtitles if you are converting into video. You can also trim your video or audio by entering the start and end times.
MacX Rip DVD to Music for Mac Free Edition works well. In my testing, I didn't experience any problems; the whole process was just smooth.