Yes, you can use DVD Cloner v5.1 to rip it, and than covert the files in to MP4 using Xilisoft Convert or ImTOO converter
here are the links:
http://www.dvd-cloner.com/product.html
http://www.xilisoft.com/video-converter.html
http://www.imtoo.com/mp4-video-converter.html
Good Luck!!