WinX iTunes Ripper for Mac is a free DVD ripper. It can convert your DVD movies to video files encoded using the MPEG-4 and H.264 codecs for video and AAC for audio. It comes with quite a few conversion profiles for the iPhone and iPod. At the bottom of the screen, you will see three buttons that read "to iTunes", "to iPhone", and "to iPod". These open three tabs with conversion options for different devices. The iTunes option should let you convert your DVD into a file that should be playable by most devices.
From the configuration tabs, you can change quite a few settings, like audio format, quality, sample rate and volume, video quality, frame rate, format, and resolution, etc.
The app lets you choose the audio track that you want to use for your converted file and also a subtitle track. These options worked fine, but the subtitles are not of the best quality. They are readable, but just barely.
I have bashed commercial rippers for having below-standard graphical user interfaces, but since this is a free tool and it works very well, I am not going to say anything about it.
All in all, this is a surprisingly good ripper, with support for trimming and subtitles. It has its flaws, but it is free.