err, handbrake is a decent freeware encoder.
its ripping capabilities are limited.
i'm assuming you mean rip as in bypass copy protection and copy files to drive no?
if so, dvdfab decryptor is your only free option.
paid versions also work. also a pay version of anydvd will work. these two companies constantly put out new versions to fight off new dvd copy protection that breaks rippers. sony seems to come out with a new unripable dvd every couple months. course it gets cracked with a new version of the two i mentioned already. older rippers stopped working on many discs long ago