What would you guys recommend for ripping DVDs?

I am using Mint Linux on my main rig and I'm hunting around for 
effective, simple, and (hopefully) free options.

In the past, (before I switched from Windows) I used to use 
dvddecrypter, or sometimes a combination of Handbrake and VLC. I rarely 
used to rip DVDs, but the need does occasionally crop up.

-- Nicholas