If you're happy using FairUse then the simplest method is to use either
TMPGEnc DVD Author or
Nerovision Express to convert the disc to standard DVD-Video format. Personally I'd go for TDA as you can snag a trial version and write the DVD files to hard disk then rip with FairUse as usual.
Copying directly from a DVD-RAM disc is a little dodgy if there are any edits on the disc, but essentially your guess was correct it is just a series of VOB's packed into a different format.