i was able to convert scenes from dvds into mp4 format using Magic DVD Ripper. it is a trial version though, so you'll have to re-install when you run out of trial runs (i think it gives you 3 runs).
http://www.magicdvdripper.com/
also check out DVD VideoSoft Free Studio. i don't think it can do what you're looking for, but its a great piece of software to have for all your media needs, you can do things like download youtube videos, convert videos, rip audio from youtube videos (very handy), convert many formats of audio and video, etc.
http://www.dvdvideosoft.com/index.htm