I suggest Handbrake. The newest version eliminated native DVD decrypting, so you can either use the latest version in tandem with VLC (it works just like it normally would...it gets the decryption stuff from VLC), or find an older version.
The only one i know of for Mac is Handbrake, i dont own a mac but have hand brake for windows and it works great. And since it was made on a mac, for macs it should work even better.
Try www.download.com for more ideas. it has reviews and downloads.