dvd::rip
http://www.exit1.org/dvdrip/
This is a graphical front-end for several command line
programs like transcode and ffmpeg.
It is notoriously difficult to install from source code. Check
to see if there is a pre-built binary for your distro'
Edit: For encoding DVD compliant MPEG-2, ffmpeg
run from the command line does a great job. It does
about 67 fps on my Athlon 3700+.