Rippingcopying Audio from DVDs

I have some non-copyrighted educational lectures on DVDs that in the future will be simultaneously audio recorded but weren't at first. So I was asked by the lecturer, I'm Mac User, want to rip the audio so as to produce smaller files for those who just wish to listen to them and not be burdened downloading the larger DVD files. Someone recommend me that Aimersoft DVD Ripper Mac can do this. It's so fantastic, thanks! Also I found this software can rip DVD to iPod, my problems is what format does iPod support and how to transfer this video to iPod, with iTunes?

:confused