The documentation says:
"Disk won't rip? Try these steps: ¶
First off, you should know that HandBrake is not a dedicated DVD ripper. There are many of those out there. For Mac, the best option is Fairmount paired with DVD2OneX. For Windows, it's AnyDVD. HandBrake's more about video conversion than stripping copy protection. For best results, you should feed HandBrake unprotected video."
which is kind of weird. Can it do it or not? Fairmount + DVD2OneX seems to involve installing 4 different apps, some of which are not freeware. Not having much luck finding a working download for Mactheripper either.