Dvd Shrink is freeware and I would just punch it in to google.
On a side note- I would also like to see a link saying that it is illegal to put personally purchased DVD's on your personal computer for personal use. I would like to know if I am personally breaking the law.
P.S. I like to back them up in case my children happen to scratch them.
EDIT: Disclaimer- I don't live in the US right now so this program may not be legal in the US.
