ImToo DVD Audio Ripper
http://www.imtoo.com/
XMPEG 5
http://www.xmpeg.net/xmpeg.asp
DVD Audio Ripper makes each chapter of the DVD into a WAV file. XMPEG extracts the entire audio portion as 1 big WAV file. You would then have to use a program such as GoldWave to split the file into tracks.
As was mentioned, you cannot use a commercially released DVD as the source for something you seed here (or EZTree). But if you just want to rip the audio out of a DVD to make a CD to listen to in your car (or something like that) that's fine. And it's easy to do. I have done that with all of my concert DVDs.
Rob
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