- Download and run the (free and open source) Fairmount from Metakine Inc.
- Insert the DVD into your computer; in a few moments Fairmount will 'ghost' a decrypted image of your DVD.
- Run Disk Utility and select this new image from the left hand panel (it will look something like disk3).
- Select Images » Convert... in Disk Utility's menu.
- Name your file, select a location, and use 'DVD/CD Master' for the image format; click Save.
[robg adds: Fairmount is bundled with a download of Metakine's DVDRemaster product; it works fine without DVDRemaster, though. Note that you'll need to have VLC installed in order for Fairmount to work. I tested with a DVD of ours, and this process worked as described.]

