A ripper that takes DVD or TS Video folders and outputs to H.264 or MPEG4 will work.
Win X DVD ripper (free version) is working nicely for me. I don't have a need for the upgrade but it's there if I decide so. What's nice is it lets you decide on the quality of the output and a changing the settings. The free version takes just under 30 seconds to rip 1 minute of video so a two hour video will take a bit under 1 hour to rip. The paid version does it in 5 minutes. http://www.winxdvd.com/?ins=dr5.5.0