First of all: The freeware handbrake does not come with copier protected DVDs rightly. However, the open source software is great for converting your self-created Blu-rays, DVDs, or videos downloaded from the Internet into an iPod, iPad, or iPhone-compatible format. Additionally it can be encoded to MP4 and Xvid.
Handbrake offers a wide range of audio format, bitrate and image size options. In addition, you can convert multiple DVDs at once or select only individual chapters.