You could use mencoder, which is a console application. I use the following command for a quick encode where quality is less important:
Code:
mencoder dvd:// -dvd-device /media/Rammstein/ -chapter 1 -ofps 18 -idx -noodml -vf scale=320:-2,expand=:240:::1,crop=320:240,rotate=1 -ovc xvid -xvidencopts bitrate=384:max_bframes=0:chroma_opt:lumi_mask:vhq=4:me_quality=6:hq_ac -sws 9 -oac mp3lame -lameopts cbr:br=160:mode=0 -o video-meizu.avi