How does one go about ripping the audio from a DVD?

[Ecrofirt]

So, I recently bought Manowar's new DVD, which is their concert performance from Earthshaker Fest 2005. As such each song is nicely set as a chapter, which will hopefully make for easy ripping somehow.

The concert is also in both Stereo and 5.1 sound.

What programs out there will allow me to rip the audio from the disc? And are there any that'll allow me to rip the 5.1 audio to files?

[TVC15]

Don't most of the DVD-ripping programs come with an option to just rip the audio, not the video?

I'm sorry if I can't name specifics, but you know I have a penchant for pearly white computers.  I know I had to do this at least once when I was on a PC.

[Ecrofirt]

No idea. I don't really rip DVDs, so I'll have to check.

[Vizzys]

simpledivx may have an option for it. google it.

[Error Macro]

http://www.imtoo.com/dvd-audio-ripper.html

[Ecrofirt]

http://www.imtoo.com/dvd-audio-ripper.html

Hey Error, thanks.

That looks like it'll have no problem ripping audio to a 2 channel format, but it doesn't seem to allow me to rip the 6 channel 5.1 ac3 track to a 6 channel track. I've tried setting the output type as ac3, but it still only gives me the option of Mono or Stereo output.