A friend recommended this way of backing up DVD
DVD Shrink .info : Backup your DVDs to DVD+/-R/RW! ! This ripper still requires an additional step of copying onto a DVD, though but you can get rid of warnings and other junk.
DVD Master Backup is another way of backing up but onto DIVX or VCD --> smaller sized files to fit onto a CD.
Best of all both are Free...
If you are a Mac user, try DVD Extractor but it is only for OS9...

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