HandBrake is a multithreaded video transcoder

HandBrake

HandBrake is a multithreaded video transcoder, This  will allow us to rip DVD to MP4, MKV, AVI or OGM. It is open source and is under the GPL. To use this program only need the DVD VIDEO_TS folder with the files or a DVD image to pass to the other formats are MP4 and MKV, MPEG-4, H.264, AAC audio or Theora, MP3, Vorbis or AC-3 and DTS.

install:
Applications > Accessories > Terminal

sudo gedit /etc/apt/sources.list

insert that lines in sources.list , save and close..

# HandBrake
deb http://ppa.launchpad.net/stebbins/handbrake-snapshots/ubuntu lucid main
deb-src http://ppa.launchpad.net/stebbins/handbrake-snapshots/ubuntu lucid main

$ sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys 816950D8

$ sudo apt-get update

$ sudo apt-get install handbrake-gtk