The only free decryption/ripping program that is still being updated regularly is DVDFab HD Decrypter. http://www.dvdfab.com/free.htm
If you need a program to compress the movie onto a single layer dvd, look at DVDShrink. You can find it at mrbass.org and you’ll find some guides to its use there as well, and there are more here at cdfreaks. Shrink can decrypt and rip older movies, but can’t handle the newer ones, so use DVDFab HD Decrypter to get them onto the hard drive first.