Quick command to rip audio from DVD

for((x=1; x<=41; x++)) do transcode -i /dev/dvd -x dvd -T 1,$x,1 -a 0 -y wav -m track$x.wav; lame -V2 track$x.wav track$x.mp3; rm track$x.wav; done;

Ref: http://www.ubuntugeek.com/how-to-rip-dvd-audio-to-mp3-or-ogg.html