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There are programs you can use that will rip a DVD to an .MPG or .VOB file on your hard drive, but in most cases the use of such programs are illegal because they have to circumvent the CSS encryption on the DVD. One trick I read about to get past the CSS encryption legally is to use your DVD software to start playing (thus authenticating) the DVD first. Once you've started playing the disc, it's authenticated and you and then rip the .VOB files without decrypting.
Anytime you change the framerate or other related specs, the video and audio will get out of sync. There are complicated procedures to ensure the video and audio are resyncronized.
To avoid sync difficulties, the easiest way to RIP a DVD would be to patch it into a TV capture card on your computer. Capture the DVD to whatever format you wish (.MPG format for VCD and SVCD, specific parameters for each).
Good luck.
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