DVD Decrypter faithfully copies disks to drives. Mode ISO > Read will produce an .iso of a disk; a double-layer disk will produce an 8GB .iso. The File mode just copies all the files as-is straight from the disk into a VIDEO_TS folder. DVD Decrypter looks like it can also burn .isos by changing the Mode to ISO > Write, but I haven’t tried it yet.

ImgBurn is great for burning .iso files to a DVD. Just insert a DVD, choose your source file, and click the button.

DVD Shrink will create a 4GB .iso from a double-layer disk!

See:

http://lifehacker.com/5444274/five-best-dvd+ripping-tools
http://lifehacker.com/5446090/best-dvd+ripping-tool-handbrake
http://lifehacker.com/208866/hack-attack-one+click-dvd-rips
http://www.softpedia.com/get/CD-DVD-Tools/CD-DVD-Rip-Other-Tools/DVD-Shrink.shtml
http://paininthetech.com/2006/04/30/how-to-back-up-a-dvd

For encoding for iPhone I like that HandBrake has iPhone presets. Just open the disk, select the preset, and click Start. When it’s done just drag the .m4v into iTunes, sync, and go.