I thought this would be a pretty straightforward task. It was, though it took several minutes to track down the CSS library needed for decryption of the DVD. All I want to do is copy Talking Words Factory to my phone so my kid can watch it in the car if needed. It looked like Brasero was the tool for the job, but I got some error about needing a plugin for it to be able to decrypt it. I found libdvdcss here and after installing the RPM, everything worked. Now I just need to encode it with ffmpeg.