Extracting audio from a non-DRMed DVD

[Steven]

This seems like it ought to be easy, but the solution I've found so far 
is not really optimal. Preferably using free software, I need to extract 
just the audio from some interviews that have been saved on DVD, so it 
can be either saved as an mp3 file or audio CD for transcription.

What I am currently doing is loading up the video, then starting 
Audacity and pressing record. Then I switch back to the video and press 
play. Which works, but goes in real time. I'd prefer something where the 
speed was based more on how quickly the cpu can churn through the file.