After months of fooling around with various open source apps I've now found the perfect solution for going from DVD to my Axim:
http://www.dvdxsoftware.com/
I was able to select the track, save it, then encode it for my VGA device. They even have a version that can encode to my smartphone :)
When you try and open an encrypted DVD it tells you it can't do that. And then tells you how you CAN do it, with a free package ;)