DVD Audio ripper for mac?

[brettallica]

For this sort of thing, you could use Handbrake to rip the entire content initially, which will convert the VIDEO_TS and AUDIO_TS folders from the DVD into singular .avi (or whatever) files. It's nice because it'll find the tracks/chapters automatically and divide and output them according to the authoring structure of the DVD itself. From there you put the .avi into MPEG Streamclip and extract the audio from the .avi.

Both Handbrake and MPEG Streamclip are free applications, and both are awesome for this applications like this.