Best DVD->NAS ripper/converter for MAC

Hello!
I was not sure if here or HTPC area was more appropriate, but I'm working with a NAS and Popcorn hour, so I hope this is the right area.

So, I just wanted to get recommendations for software that will run on MAC OSx, that will both convert and rip DVD's reasonably quickly.

I'm not sure what the best format to convert to would be, but, even though it's a 4TB NAS, space is still an issue. I'd like to extract the whole DVD, including menus, but ISO or video_ts are just going to be to big to store my entire collection onto the NAS. S
O, I'm hoping to convert to some smaller-size but acceptable quality format. 99% of my collection is standard def, not much bluray, yet.
Thanks in advance for any suggestions regarding software and conversion format

Hi, Rholden, thanks...it figures, I've picked the two dvd's to start with that have some kind of apparently new copy protection (Bangkok Dangerous and Disaster movie)...Handbrake crashes when scanning the disk, but MTR actually does seem to work when extracting movie only...I'll try Handbrake with some other disc, since it seems to do what I want, which is extract entire disc to something smaller than ISO or Video_ts, since my whole goal is saving space on the NAS...