I use Exact Audio Copy for ripping those cda to wav; then LAME for encoding wav to mp3 (for easy, use a front-end).
EAC - Exact Audio Copy
http://www.exactaudiocopy.de/
LAME MP3 encoder and other high quality encoding - decoding tools
http://home.pi.be/~mk442837/
RazorLame | A LAME Front-end - open source encoding MP3 files
http://www.dors.de/razorlame/index.php