DVDShrink (whoa, the free version is back?
) is a nice-and-easy tool, but you shouldn't use it for re-encoding in case you want quality. It's fast, but that comes at a price.
I've used the free version of DVDFab Platinum when I've needed to deal with those pesky protected discs with ARccOS
or the like. (I wonder why those bastards bother - it obviously stops neither the pirate copying fabs, nor the "scene" pirates).