DVD Fab. Converts DVDs, files, etc.
Not free but a good product--Cucusoft Video Converter Ultimate, multiple format support, frequent updates, great user forum.
I got lifetime keys a few years ago. I convert all my old DVDs to .mkv or .mp4 and have them on a HDD. You can convert any source to iPad, iPod, PS3, XBox, PSP, many more or do a custom conversion.