Thanks TS, I should have mentioned that DVD Shrink doesn't remove all the latest protections, such as Sony's ARccOS™. However, version 3.2 copes with most of them and so it's worth trying it first as I find it is so fast. As you say, DVD Decrypter is no longer being updated due to legal action but a new company have taken over the mantle and for good reason. As you said many of us have children (or dogs who think cd/dvd are frisbees) and of course these plastic discs are not indestructable. For this reason we should be allowed to "copy" something we have purchased provided it is for our own use and not to profit by.
After the sad demise of DVD Decrypter the new kid on the block is DVDFab Decrypter. There are various versions available, and the link is to the free version which, like good old DVD Decrypter, will rip entire disc and remove ALL protections in the process. You can then use DVD Shrink or whichever software you prefer to copy/re-author before burning to DVD.
http://www.afterdawn.com/software/vi..._decrypter.cfm