OK, I'll answer the question everyone has avoided due to "sensibilities"
In 10.4 - 10.6 I recommend Mac The Ripper, it'll remove DRM, and region codes and give you a video TS file, you can convert to whatever format you need it's great for backing up DVD's you OWN..
If you're in 10.7 I like and use Mac DVD Ripper Pro it doesn't cost much and does what MTR used to do..
For burning if you're allergic to paying for stuff brasero is good, it's open source and does the job. I use Roxio Toast great stuff costs a benjamin or so but is great!
Remember it's a sorta grey area to back up DVD's you OWN, it's illegal to do anything with DVD's you DON'T OWN. The MPAA needs all the money it can get, remember the cost of living in California is really high.