this is not free but it works pretty well on a mac and has all the options you could want give it a try free 30 day trial it should suit your needs.
New!DVDFab for Mac 188.8.131.52 is out:
DVDFab for Mac 184.108.40.206 (October 10, 2012)
New: Updated decryption keys.
New: Added support for new BD+ protection.